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()