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A forum post by Supposer

If you want them just physically moving about and dragging on the ground, you could make those joints not part of the puppet. There's a tab in the puppet tweak menu, I believe (while scoped out, open the puppet's tweak menu), that displays a whole load of "bone" buttons, which connect to the different joints in the puppet. You should be able to turn off the elbow (and shoulder?) joint ones, to allow the arms to just hang down.

Then when it goes into idle mode, use a keyframe to position the arms how you want.

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