Blender Secrets: Ragdoll (Part 2)

Scale down the constraits so they are easier to work with.
Move / rotate the Empties to be aligned with the bodyparts.

Temporarily check the Animated box for any body parts you don’t want to move.

Change Body Constraint Type to Generic.
Check the Linear boxes and set them to 0.

Check the Angular boxes as well.
In the case of this joint, we only rotate around X-axis.
Lower means on the left side of the X-axis. Upper means on the right side of the X-axis.

We can check that we’ve limited the right axis with a Passive Rigid Body box. of course some joints need more than one axis of rotation, like the neck.

Now repeat this for every joint on the body :-)