Right, that’s the issue. Since your Bone and Leg Motor6D have differing C0/C1s, they rotate in different ways. It’s hard to understand so I made a little repro of what I mean.
Take these two rigs:
The one on the left is R6, and the one on the right is R15. Their joints are different in a few ways, but I’ll be moving their hips in this particular example.
Here is the R6 rig’s “Right Hip” joint:
…and, here is the R15 rig’s “RightHip” joint:
You’ll notice that the rotation on C0 and C1 on the R6 rig’s “Right Hip” is 0, 90, 0, meaning it’s rotated to our right, while the joint on the R15 rig is not rotated whatsoever; so, it’s completely in-line with the front of the character. I also made a little test script to tween the two, but here’s the general loop:
RunService.PreSimulation:Connect(function(delta: number): ()
if tweenDelta < TWEEN_TIME then
tweenDelta += delta
end
local tweenAlpha: number = TweenService:GetValue(
math.min(tweenDelta / TWEEN_TIME, 1.),
Enum.EasingStyle.Sine,
Enum.EasingDirection.Out
)
local transform: CFrame = CFrame.Angles(
.5 * math.pi * tweenAlpha, -- Pitch (up/down)
0., -- Yaw (left/right)
0. -- Roll (tilt)
)
hipR15.Transform = transform
hipR6.Transform = transform
end)
You can see from my intent, I would like the legs to rotate up 90 degrees. But, plugging this in:
You’ll see that, despite the Transform being applied the same on both rigs, the R6 rig’s leg goes to the side.. which is not quite what we want. So, we’re going to need to translate the Transform of the tabard bone a little…
So, with how you’re currently handling it, it looks like this:
tabardBone.Transform = transform
hipR6.Transform = transform
And, here’s my fix:
tabardBone.Transform =
tabardBone.CFrame.Rotation:Inverse()
* hipR6.C0.Rotation
* transform
hipR6.Transform = transform
Works great for me, try it yourself and tell me how it goes
Edit: Just doing tabardBone.Transform = hipR6.C0.Rotation * transform also works; inversing tabardBone.CFrame negates the tabard bone’s original orientation, so it’d be exactly in-line with the leg… which you might not want in some cases