How do I change rotation origin of a Motor6D?

I'm making a custom model, and trying to animate it. It's quadripedal, and I've got all the legs hooked together with Motor6Ds, but when I go to move any limbs in the animation plugin, the origin is off. I'm hooking them together with this code:

    local m6a = {FL, FR, BL, BR}
    mo.Parent = game.Workspace
    mo:MakeJoints()
    for k, v in pairs(m6a) do
        local m6d = Instance.new("Motor6D")
        m6d.Parent = torso
        m6d.Part0 = torso
        m6d.Part1 = v
        m6d.Name = v.Name.."Joint"
        m6d.C0 = (m6d.Part0.CFrame:inverse())
        m6d.C1 = (m6d.Part1.CFrame:inverse())
    end

How would I change the origin? There's no real order behind where the origin is now, besides being the same for the front 2 and back 2 feet.