Normal Roblox characters don’t actually have collisions on the limbs, there is an invisible part in the center that has collisions enabled called HumanoidRootPart, disable CanCollide on all your visible parts, have the HumanoidRootPart in the center of your rig and set it’s CanCollide to true, now if you play your character should be somewhat clipping through the ground, to fix this there is a property under Humanoid called HipHeight you will need to fiddle with this value until you find one that works for your case, I suggest starting around 3-4 at first.