Trying to make TRAVERSAL like movement

I’m currently trying to create a movement system similar to the game TRAVERSAL’s movement system, but I don’t know where to start.

I’ve found several different scripts and slightly played around with them, but I could never achieve that type of movement.

for this type of movement do I need to modify the provided Player Module? or is this something that can be made on a separate script?

I’ll post the game’s link if anyone is curious
TRAVERSAL - Roblox
sadly this game is only playable on computer

Traversal uses procedural movement which utilizes the motor6d’s C0 property. The motor6ds are found in the torso for R6, for example, “Left Hip.” You are to use a loop, lerp function (could be custom) and math.sin() an example would be

-- isn't my snippet
Left_Leg.C0 = Left_Leg.C0:lerp(
	CFrame.new(-0.5, -1 + math.cos(tick() * 10) / 4, 0) * CFrame.Angles(0, math.rad(-RootPart.Orientation.Y), 0) *
	CFrame.fromEulerAnglesXYZ(
		(-math.sin(tick() * 10) * Humanoid.MoveDirection.Z) / 1.5,
		0,
		(-math.sin(tick() * 10) * -Humanoid.MoveDirection.X) / 1.5
	) *
	CFrame.Angles(0, math.rad(RootPart.Orientation.Y), 0) *
	CFrame.new(0, -1, 0),
	0.3
)

it mostly consists of knowledge on cframe