How can I fix this error with Motor6D?

I have developed a script for morphs, like dragons and such, that makes their limbs dynamic. The code I made is called MorphAnimator V2 (or MAV2 for short). It works by anchoring the player, gathering the positions of the morphs arms and legs relative to the morph's middle, then it creates a "fake arm", re-sizes the character's arms and legs, then welds the fake-arm to the original for collision fixes. Finally, since re-sizing limbs breaks joints, it re-creates Motor6Ds and sets the C0 of them to the positions it gathered. This works GREAT! But, there is one problem I am having with it: The Motor6D's joint location has been moved. In your ROBLOXian, the point of rotation is on the top of the block. After morphing, it is transferred to the center of the block. Does anyone know how to fix it?

Here's the Pre-code. It has a LocalScript inside, and the Vector3Values inside of the LocalScript.

db = false
toucher = nil
function FindHumanoid(model) --Instead of searching for the name, search for a humanoid instance
    f = false
    for _, v in ipairs(model:GetChildren()) do
        if v:IsA("Humanoid") then f = true return v end
    end
    if not f then return nil end
end

function GrabOffsets()
    local main = script.Parent.Parent
    local arm1 = main.Arm1.Middle.Position
    local arm2 = main.Arm2.Middle.Position
    local leg1 = main.Leg1.Middle.Position
    local leg2 = main.Leg2.Middle.Position
    local core = main.Chest.Middle.Position
    local offset1 = (core - arm1)
    local offset2 = (core - arm2)
    local offset3 = (core - leg1)
    local offset4 = (core - leg2)
    local ls = script['LocalScript']
    ls.Arm1.Value = offset1
    ls.Arm2.Value = offset2
    ls.Leg1.Value = offset3
    ls.Leg2.Value = offset4
end

function onTouch(part)
    toucher = part.Parent.Name
    if db then return end --If the debounce is enabled, return to the start of the code and try again
    if not db then --If debounce is disabled, continue!
        db = true --Enable the debounce while we're doing this.
        local human = FindHumanoid(part.Parent)
        local LimbControl = script:findFirstChild("LocalScript")
        if human ~= nil then
            GrabOffsets()
            local Clone = LimbControl:Clone()
            Clone.Parent = workspace:findFirstChild(toucher)
            Clone.Disabled = false --Enable the code
        end
    end
    wait(1)
    db = false --Disable the debounce
    toucher = nil --Erase toucher data
end

script.Parent.Touched:connect(onTouch) --Fire the onTouch function when someone touches.

Here's the LocalScript

Limbs = {}
JointNames = {"Left Shoulder", "Right Shoulder", "Left Hip", "Right Hip"}
t = 2

function WeldMorphLimbs(limb, part)
    local WELD = Instance.new("Weld")
    WELD.Part0 = limb
    WELD.Part1 = part
    WELD.Parent = limb
    WELD.C0 = CFrame.new(0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 1)
end
function NewJoint(part, Torso, n)
    local a = Instance.new("Motor6D", Torso)
    a.Name = JointNames[n]
    a.Part0 = Torso
    a.Part1 = part
    part.Anchored = false
end

function GUI(val)
    local a = Instance.new("ScreenGui", game.Players.LocalPlayer.PlayerGui)
    local b = Instance.new("Message", a)
    if val == 1 then
        b.Text = 'In the next few seconds, your body is gonna do some weird stuff!'
        wait(t/2)
        b.Text = 'Calculating...'
        wait(t/4)
        b.Text = 'Gathering collision...'
        wait(t/4)
        b.Text = 'Computing welds, moves, and animations...'
        wait(t/4)
    elseif val == 2 then
        b.Text = 'Moving body CFrame to get you un-stuck...'
        wait(1)
        b.Text = 'Animating...'
        wait(0.5)
        b.Text = "Removing properties of humanoid legs... (so you don't do the falling animation)"
        wait(1)
        b.Text = 'Complete!'
        wait(0.5)
    end
    a:Destroy()
end
base = script.Parent
BodyParts = {base["Left Arm"], base["Right Arm"], base["Left Leg"], base["Right Leg"]}
function CFUP(a, c, torso) --Gets players unstuck
    p = base.Arm1
    o = base.Arm2
    i = base.Leg1
    u = base.Leg2
    for q,w in ipairs(p:GetChildren()) do
        if w:IsA("BasePart") then
            w.Anchored = true
        end
    end
    for q,w in ipairs(o:GetChildren()) do
        if w:IsA("BasePart") then
            w.Anchored = true
        end
    end
    for q,w in ipairs(i:GetChildren()) do
        if w:IsA("BasePart") then
            w.Anchored = true
        end
    end
    for q,w in ipairs(u:GetChildren()) do
        if w:IsA("BasePart") then
            w.Anchored = true
        end
    end
    val = nil
    if a > c then val = a end
    if c > a then val = c end
    if a == c then val = a end
    GUI(2)
    human = torso.Parent.Humanoid
    human.LeftLeg = human.LeftLeg.Part
    human.RightLeg = human.RightLeg.Part
    torso.CFrame = CFrame.new(torso.Position.X, torso.Position.Y + val+2, torso.Position.Z)
    FinalMove(BodyParts[1].Parent)
end

function WeldNewLimbs()
    GUI(1)
    a = base.Arm1.Middle.Size
    b = base.Arm2.Middle.Size
    c = base.Leg1.Middle.Size
    d = base.Leg2.Middle.Size
    MIDS = {
    base.Arm1.Middle,
    base.Arm2.Middle,
    base.Leg1.Middle,
    base.Leg2.Middle
    }

    r = #Limbs
    m = Limbs
    for j = 1, r do
        BodyParts[j].Anchored = true
        if j == 1 then
            m[j].Size = a
        elseif j == 2 then
            m[j].Size = b
        elseif j == 3 then
            m[j].Size = c
        elseif j == 4 then
            m[j].Size = d
        end 
        BodyParts[j].Size = m[j].Size
        NewJoint(BodyParts[j], BodyParts[j].Parent.Torso, j)
        local weld = Instance.new("Weld")
        weld.Part0 = m[j]
        weld.Part1 = BodyParts[j]
        weld.Parent = m[j]
        weld.C0 = CFrame.new(0, 0, 0)
        m[j].Parent = BodyParts[j]
        WeldMorphLimbs(BodyParts[j], MIDS[j])
    end
    CFUP(a.Y, c.Y, BodyParts[1].Parent.Torso)
end

function CreateNewLimbs()
    for i = 1, 4 do
        local a = Instance.new("Part")
        a.FormFactor = "Custom"
        a.Size = Vector3.new(1, 2, 1)
        --^ All limbs are that size ^--
        Limbs[i] = a
        a.Transparency = 1
    end
    WeldNewLimbs()
end

function FinalMove(playrobot) --Don't blame me! This was inspired by PlayRobot's morph magic :(

    for q,w in ipairs(p:GetChildren()) do
        if w:IsA("BasePart") then
            w.Anchored = false
        end
    end
    for q,w in ipairs(o:GetChildren()) do
        if w:IsA("BasePart") then
            w.Anchored = false
        end
    end
    for q,w in ipairs(i:GetChildren()) do
        if w:IsA("BasePart") then
            w.Anchored = false
        end
    end
    for q,w in ipairs(u:GetChildren()) do
        if w:IsA("BasePart") then
            w.Anchored = false
        end
    end

    local base = script
    local arm1 = base["Arm1"].Value
    local arm2 = base["Arm2"].Value
    local leg1 = base["Leg1"].Value
    local leg2 = base["Leg2"].Value

    lh=playrobot.Torso:findFirstChild("Left Hip")
    lh.Part0=playrobot.Torso
    lh.Part1=playrobot:findFirstChild("Left Leg")
    lh.C0=CFrame.new(leg1.X, -leg1.Y, leg1.Z, 0, 0, -1, 0, 1, 0, 1, 0, 0)

    rh=playrobot.Torso:findFirstChild("Right Hip")
    rh.Part0=playrobot.Torso
    rh.Part1=playrobot:findFirstChild("Right Leg")
    rh.C0=CFrame.new(leg2.X, -leg2.Y, leg2.Z, 0, 0, 1, 0, 1, 0, -1, 0, 0)

    ls=playrobot.Torso:findFirstChild("Left Shoulder")
    ls.Part0=playrobot.Torso
    ls.Part1=playrobot:findFirstChild("Left Arm")
    ls.C0=CFrame.new(arm1.X, -arm1.Y, arm1.Z, 0, 0, -1, 0, 1, 0, 1, 0, 0)

    rs=playrobot.Torso:findFirstChild("Right Shoulder")
    rs.Part0=playrobot.Torso
    rs.Part1=playrobot:findFirstChild("Right Arm")
    rs.C0=CFrame.new(arm2.X, -arm2.Y, arm2.Z, 0, 0, 1, 0, 1, 0, -1, 0, 0)

    local sign = Instance.new("FunctionalTest")
    sign.Name = "Ready"
    sign.Description = "FunctionalTests are awesome like this"
    sign.Parent = playrobot
    wait(5)
    sign:Destroy()
end

CreateNewLimbs()