well i used another persons mech and altered it so i'm no professional at this, i used this program: https://psteamcommunity.yuanyoumao.com/sharedfiles/filedetails/?id=2686110637
it has a decent guide to help you in the description and there is also a discord where you can ask for help from the people who made the script, they helped me out a lot so it's worth a look, hope your mech goes well.

how do you get it to walk, i tried all all of the programmable blocks and tried to manually get it moving but couldn't