Issue with motor6D collisions

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#1

I am making a rig controller to in the future make AI agents walk, and i have realized that changing motor6D’s transform property cause huge collisions issue:
image
Here is my code (the rig has no humanoid i only gave it parts and meshparts, and the HumanoidRootPart has no cancollide)

while task.wait() do
	for _, t in workspace.Rig:GetDescendants() do
		if t:IsA("Motor6D") then
			t.Transform *= CFrame.Angles(math.rad(0.1), math.rad(0), math.rad(0))
		end
	end
end

I know it is not optimized, it is only a test.
The problem is that the rig flies, i DON’T want self collisions so the fact that it is in a sort of ball is not a problem.