How to pickup a "physical" weapon which has collosion, and animating the pickup action, while upper body is Ragdoll?

[iXsolve]

Sockets and bones are the same if you want to attach something. Both can move with the animation. Well at one point you know you want to pickup something, then disable collisions. Check it by yourself in overlap callbacks or switch to another profile “pickable”. Maybe there are even more options.