(solved) Inverse Kinematics in a script?

I want to know if roblox allows for animations to be generated using a script in order to give walking a realistic feel. Right now I'm just using separate leg raising animations but they are very glitchy.

game.Workspace:WaitForChild(game.Players.LocalPlayer.Name)
game.Workspace[game.Players.LocalPlayer.Name]:WaitForChild("Humanoid")
local rleg = game.Players.LocalPlayer.Character.Humanoid:LoadAnimation(script.rleg)
rleg.Priority = Enum.AnimationPriority.Action
local lleg = game.Players.LocalPlayer.Character.Humanoid:LoadAnimation(script.lleg)
lleg.Priority = Enum.AnimationPriority.Action
character = game.Players.LocalPlayer.Character
character.Humanoid.HipHeight = 2.5

game:GetService("RunService").Heartbeat:Connect(function(frame)
	character.LeftFoot.Touched:Connect(function(part)
		lleg:Play()
	end)
	character.LeftFoot.TouchEnded:Connect(function(part)
		lleg:AdjustSpeed(0)
	end)
	character.RightFoot.Touched:Connect(function(part)
		rleg:Play()
	end)
	character.RightFoot.TouchEnded:Connect(function(part)
		rleg:AdjustSpeed(0)
	end)
end)

Example Here