NPC Falling apart + Spaced limbs? [Solved]

I've built a small person, which Im trying to make an NPC and randomly walk about. Each arm is made of 2 pieces, Same with the legs so I've unioned them.

They're named: Left leg; Left arm; Right leg; Right arm I've inserted a Humanoid The center block is called Torso and the head is called Head.

The problem is, when I test this, The person sinks slightly into the ground and the arms and legs get moved out from the Torso by about 1 stud. If I un-union the arms and legs, the thing falls apart. I've copied the 'Humanoid' script from Player 1 (In testing), this is my only current script.

Is there anyway to stop the spacing out of the limbs?