Motor6D not connecting parts correctly?

I made a custom rig it looks like a normal player just a lot smaller I'm am aiming to make an animated NPC for an RTS game I can't find many Motor6D references and I'm kind of winging it at this point and requesting a temp wingman.

local hrp = script.Parent:WaitForChild("HumanoidRootPart")

for i,child in pairs(script.Parent:GetChildren()) do
    if child:IsA("BasePart") and child ~= hrp then
        local motor = Instance.new("Motor6D")
        motor.Part0 = child
        motor.Part1 = hrp
        motor.Name = child.Name.."Motor6D"
        motor.Parent = hrp

        child.Anchored = false
    end
end

hrp.Anchored = false
script:Destroy()

This link shows the problem

https://gyazo.com/24c5bfa126c292bd3ec837f9e468879f

This link shows the model

https://gyazo.com/d7cf341a217593089468e277e243bacf

I don't want to use any plugins.