you could check the ragdoll code that was posted 1 year ago.
http://codea.io/talk/discussion/3475/player-ragdoll-class-for-use-in-games-/p1
Nevermind, I found out the problem. My rects were twice as small as they should have been and I was easily able to fix the issue. Thanks for all the help @dave1707, and your compliment about it looking natural
Now I am having issues with zLevel. I am basing the zLevel off the parts categories and some are in the wrong layers. Could you just help me out with categories / zLevel? How do they both work