2d body base that it's limbs can collide and interact with other body's

Godot Version

4.3

Question

in 2d i want to create body base that it's limbs can collide and interact with other body's and can be posed by clicking dragging using the mouse, i think in using RidgidBody and bone , so the RidgidBody detect the collisions and get necessary data to convert it to rotation for the bone but i can't make it wright , so help.