How do I enable ragdoll on collision with obstacle?

The specific model I am using for my player has colliders parented to the feet so that the leap animation is accurate because this is a simple parkour game. It also gives a cool bounce and impact effect to the camera.

My issue is the only tutorials I have been able to find on the subject keep the ragdoll inactive by deactivating colliders and rigid bodies in the children, so it totally ruins my collider and trigger system.

I would love if someone could provide a solution when my player hits something tagged obstacle, then ragdoll activates while keeping animation position and velocity. And obviously not ruining my current system.

Thanks so much, hope I get a reply because I cannot figure this out for the life of me.