Help with procedural leg movement script

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i’ve been trying to make procedural leg movement for some time and this is as far as i can get
its supposed to work ONLY for r6 and not for r15, since im unexperienced on that area
i really dont know how to make the legs correctly face the torso like normal legs would
so im kinda stuck and need some help
theres only 1 script and a couple of parts with attachments and stuff
heres the rblx file and the local script’s code

i want to achieve something like Phantom Forces or Strife!'s procedural movement with no keyframes utilized.

leg movin.rbxl (68.7 KB)

   local runService = game:GetService("RunService")

local char = script.Parent

local hum : Humanoid = char:WaitForChild("Humanoid")

hum.HipHeight = 0

local rootPart = hum.RootPart or char:WaitForChild("HumanoidRootPart")

local head = char:WaitForChild("Head")

local torso = char:WaitForChild("Torso")

local lArm : BasePart = char:WaitForChild("Left Arm")
local rArm : BasePart = char:WaitForChild("Right Arm")

local lLeg : BasePart = char:WaitForChild("Left Leg")
local rLeg : BasePart = char:WaitForChild("Right Leg")

lLeg.Anchored = true
rLeg.Anchored = true

local lHip : Motor6D = torso:WaitForChild("Left Hip")
local rHip : Motor6D = torso:WaitForChild("Right Hip")

lHip.Enabled = false
rHip.Enabled = false

local lShoulder : Motor6D = torso:WaitForChild("Left Shoulder")
local rShoulder : Motor6D = torso:WaitForChild("Right Shoulder")

local lLegRest = true
local rLegRest = true

local lLegRestPart = game:GetService("ReplicatedStorage"):WaitForChild("restPartPlaceholder"):Clone()
local rLegRestPart = game:GetService("ReplicatedStorage"):WaitForChild("restPartPlaceholder"):Clone()

local attachments = game:GetService("ReplicatedStorage"):WaitForChild("attachments")

local lHipAtt = attachments:WaitForChild("LeftHipAttachment"):Clone()
local rHipAtt = attachments:WaitForChild("RightHipAttachment"):Clone()

lHipAtt.Parent = torso
rHipAtt.Parent = torso

lLegRestPart.Parent = workspace
lLegRestPart.Name = char.Name .. "_lLegRest"

rLegRestPart.Parent = workspace
rLegRestPart.Name = char.Name .. "_rLegRest"

local params = RaycastParams.new()
params.FilterType = Enum.RaycastFilterType.Exclude
params.FilterDescendantsInstances = {char}
params.IgnoreWater = true
params.RespectCanCollide = false

local overParams = OverlapParams.new()
overParams.FilterType = Enum.RaycastFilterType.Exclude
overParams.RespectCanCollide = false

local stepSFX = game:GetService("SoundService"):WaitForChild("Step")

local function moveLeg(name)
	if name == "Left" then
		local part = lLeg
		if table.find(workspace:GetPartsInPart(lLegRestPart,overParams),part) then
			lLegRest = true
			lLeg.CFrame = CFrame.new(lLeg.Position,lHip.C0.Position)
			return
		else
			lLegRest = false
			game:GetService("TweenService"):Create(lLeg,TweenInfo.new(.025,Enum.EasingStyle.Cubic,Enum.EasingDirection.InOut,0,false,0),{CFrame = CFrame.new(lLegRestPart.Position + Vector3.new(0,.75,0),lHip.C0.Position)}):Play()
			if hum.MoveDirection ~= Vector3.new(0,0,0) then
				stepSFX:Play()
			end
		end
	elseif name == "Right" then
		local part = rLeg
		if table.find(workspace:GetPartsInPart(rLegRestPart,overParams),part) then
			rLegRest = true
			lLeg.CFrame = CFrame.new(lLeg.Position,rHip.C0.Position)
			return
		else
			rLegRest = false
			game:GetService("TweenService"):Create(rLeg,TweenInfo.new(.025,Enum.EasingStyle.Cubic,Enum.EasingDirection.InOut,0,false,0),{CFrame = CFrame.new(rLegRestPart.Position + Vector3.new(0,.75,0),rHip.C0.Position)}):Play()
			if hum.MoveDirection ~= Vector3.new(0,0,0) then
				stepSFX:Play()
			end
		end
	end
end

local function moveArm(name)
	if name == "Left" then
		local part = lArm
	elseif name == "Right" then
		local part = rArm
	end
end

runService:BindToRenderStep("limbMovement",Enum.RenderPriority.Character.Value,function()
	if hum.Health > 0 then
		if hum.MoveDirection ~= Vector3.new(0,0,0) then
			lLegRestPart.Size = Vector3.new(3,.125,3)
			rLegRestPart.Size = Vector3.new(3,.125,3)
		else
			lLegRestPart.Size = Vector3.new(.25,.00125,.25)
			rLegRestPart.Size = Vector3.new(.25,.00125,.25)
		end
		lLegRestPart.CFrame = (rootPart.CFrame * CFrame.new(-.5, -2.75, 0))
		rLegRestPart.CFrame = (rootPart.CFrame * CFrame.new(.5, -2.75, 0))
		moveLeg("Left")
		moveLeg("Right")
	else
		lLeg.Anchored = false
		rLeg.Anchored = false
	end
end)
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