Ragdoll IK solution?

Hello everyone!

I am looking for an IK solution for humanoid ragdolls.

I have to move my characters with IK control points, and I want them to self collide - limbs avoid each other.

I tried Power IK, but when I enable physics things go wrong… The mesh just stretches and limbs go crazy… Although without physics it’s all working fine…

Can someone recommend me a plugin, tutorial, asset anything that can do it for me?

Many thanks