I'm trying to create a scene using the amazing Capybara character and, since I just started styding KineFX' and Ragdolls, this is the setup I manage to create. It's super simple and procedural, I didn't change any of the collision shapes or joints' limits by hand.

It kinda works but the upper body part is completely disconnected. Does anyone knows how I can fix this?

Scene file is attached
Thanks!