Recreating Eclipsis style movement

Help and Feedback Scripting Support
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#1
  1. What do you want to achieve?

I want to be let the character rotate its upper torso, arms, head towards the mouse cursor while the legs move normally

  1. What is the issue?

I have only found a rudimentary solution which just points the root part towards the cursor but this leads to the player being able to fly as the legs are not stuck to the ground

  1. What solutions have you tried so far?

I have tried solutions such as playing with the joints but always seem to just break the character and seperates it.

local Players = game:GetService("Players")
local Player = Players.LocalPlayer
local Character = Player.Character or Player.CharacterAdded:Wait()
local Humanoid = Character:WaitForChild("UpperTorso")
local mouse = Player:GetMouse()
local RunService = game:GetService("RunService")
RunService.RenderStepped:Connect(function()

	local hrpPos, mousePos = Humanoid.Position, mouse.Hit.Position

	Humanoid.CFrame = CFrame.new(hrpPos, Vector3.new(mousePos.X, mousePos.Y, mousePos.Z))
end)                                                        -- HumanoidPos.Y locks frame
-- can you get the torso already

My current problem/state
https://gyazo.com/300f4f6775af99b6455fcefdca309e17

What im trying to replicate
https://gyazo.com/df704d3f61e3badb2c72fb8c25aa6bba

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