-- This is actually not his example I lost it but I gave you what I had in my animation script

Lerp = function(a,b,c)
	return a+(b-a)*c
end

function ctlerp(c1,c2,al)
	local com1 = {c1:components()}
	local com2 = {c2:components()}
	for i,v in pairs(com1) do
		com1[i] = lerp(v,com2[i],al)
	end
	return CFrame.new(unpack(com1))
end

do
    local function QuaternionFromCFrame(cf) 
            local mx, my, mz, m00, m01, m02, m10, m11, m12, m20, m21, m22 = cf:components() 
            local trace = m00 + m11 + m22 
            if trace > 0 then 
                    local s = math.sqrt(1 + trace) 
                    local recip = 0.5/s 
                    return (m21-m12)*recip, (m02-m20)*recip, (m10-m01)*recip, s*0.5 
            else 
                    local i = 0 
                    if m11 > m00 then
                            i = 1 
                    end 
                    if m22 > (i == 0 and m00 or m11) then 
                            i = 2 
                    end 
                    if i == 0 then 
                            local s = math.sqrt(m00-m11-m22+1) 
                            local recip = 0.5/s 
                            return 0.5*s, (m10+m01)*recip, (m20+m02)*recip, (m21-m12)*recip 
                    elseif i == 1 then 
                            local s = math.sqrt(m11-m22-m00+1) 
                            local recip = 0.5/s 
                            return (m01+m10)*recip, 0.5*s, (m21+m12)*recip, (m02-m20)*recip 
                    elseif i == 2 then 
                            local s = math.sqrt(m22-m00-m11+1) 
                            local recip = 0.5/s return (m02+m20)*recip, (m12+m21)*recip, 0.5*s, (m10-m01)*recip 
                    end 
            end 
        end   
        local function QuaternionToCFrame(px, py, pz, x, y, z, w) 
                local xs, ys, zs = x + x, y + y, z + z 
                local wx, wy, wz = w*xs, w*ys, w*zs 
                local xx = x*xs 
                local xy = x*ys 
                local xz = x*zs 
                local yy = y*ys 
                local yz = y*zs 
                local zz = z*zs 
                return CFrame.new(px, py, pz,1-(yy+zz), xy - wz, xz + wy,xy + wz, 1-(xx+zz), yz - wx, xz - wy, yz + wx, 1-(xx+yy)) 
                end   
        local function QuaternionSlerp(a, b, t) 
            local cosTheta = a[1]*b[1] + a[2]*b[2] + a[3]*b[3] + a[4]*b[4] 
            local startInterp, finishInterp; 
            if cosTheta >= 0.0001 then 
                    if (1 - cosTheta) > 0.0001 then 
                            local theta = math.acos(cosTheta) 
                            local invSinTheta = 1/math.sin(theta) 
                            startInterp = math.sin((1-t)*theta)*invSinTheta 
                            finishInterp = math.sin(t*theta)*invSinTheta  
                    else 
                            startInterp = 1-t 
                            finishInterp = t 
                    end 
            else 
                    if (1+cosTheta) > 0.0001 then 
                            local theta = math.acos(-cosTheta) 
                            local invSinTheta = 1/math.sin(theta) 
                            startInterp = math.sin((t-1)*theta)*invSinTheta 
                            finishInterp = math.sin(t*theta)*invSinTheta 
                    else 
                            startInterp = t-1 
                            finishInterp = t 
                    end 
            end 
            return a[1]*startInterp + b[1]*finishInterp, a[2]*startInterp + b[2]*finishInterp, a[3]*startInterp + b[3]*finishInterp, a[4]*startInterp + b[4]*finishInterp 
    end  
    function clerp(a,b,t) 
            local qa = {QuaternionFromCFrame(a)}
            local qb = {QuaternionFromCFrame(b)} 
            local ax, ay, az = a.x, a.y, a.z 
            local bx, by, bz = b.x, b.y, b.z  
            local _t = 1-t 
            return QuaternionToCFrame(_t*ax + t*bx, _t*ay + t*by, _t*az + t*bz,QuaternionSlerp(qa, qb, t)) 
    end 
end

function newAni(length,joints)
	if not joints then error("You didn't give me any joints!") end
	local ani = {}
	local ignored = {}
	ani.keyframes = {}
	ani.frames = {}
	ani.looped = false
	ani.length = length
	ani.running = false
	ani.paused = false
	ani.pauseAt = -1
	ani.smoothFactor = 2
	function ani:run(sync)
		local function run()
			local me = math.random()
			self.runid = me
			self.running = true
			self.paused = false
			local firstRun = true
			if self.startModifier then
				for i,v in pairs(joints) do
					v.C0,v.C1 = self.startModifier(v,v.C0,v.C1)
				end
			end
			repeat
				self:updateFrames(not firstRun)
				firstRun = false
				local i = 1
				while true do
					self.frame = i
					if i == self.pauseAt then
						self.paused = true
					end
					for _,v in pairs(self.frames[i]) do
						if not ignored[v.joint] then
							local c0 = v.c0
							local c1 = v.c1
							for a = math.max(1,i-self.smoothFactor),math.min(self.length,i+self.smoothFactor) do
								if self.frames[a] and self.frames[a][v.joint] then
									c0 = clerp(c0,self.frames[a][v.joint].c0,1/(2*self.smoothFactor+1))
									c1 = clerp(c1,self.frames[a][v.joint].c1,1/(2*self.smoothFactor+1))
								end
							end
							if v.modifier then
								c0,c1 = v.modifier(v.joint,c0,c1)
							end
							v.joint.C0 = c0
							v.joint.C1 = c1
							if v.joint:IsA("Motor") then
								v.joint.DesiredAngle = 0
								v.joint.MaxVelocity = 0
								v.joint.CurrentAngle = 0
							end
						end
					end
					local start = tick()
					game:GetService'RunService'.RenderStepped:wait()
					local timetaken = tick()-start
					local am = math.max(1,math.floor(timetaken/0.01666666666666+.5))
					if not self.running or self.runid ~= me then return end
					if not self.paused then
						i = i + am
						if not self.frames[i] then
							break
						end
					end
				end
				if not self.looped then
					self.running = false
				end
			until not self.running
		end
		if sync then
			run()
		else
			coroutine.wrap(run)()
		end
	end
	function ani:stop()
		self.running = false
	end
	function ani:pause()
		self.paused = true
	end
	function ani:resume()
		self.paused = false
	end
	function ani:pauseAt(index)
		self.pauseAt = index
	end
	function ani:getNextKeyframeFor(joint,index)
		index = index or 1
		for i=index,self.length do
			if self.keyframes[i] and self.keyframes[i][joint] then
				return self.keyframes[i][joint]
			end
		end
		return false
	end
	function ani:getPrevKeyframeFor(joint,index)
		index = index or 1
		for i=index,1,-1 do
			if self.keyframes[i] and self.keyframes[i][joint] then
				return self.keyframes[i][joint]
			end
		end
		return false
	end
	function ani:setKeyframe(index,joint,c0,c1,modifier)
		ani.keyframes[index] = ani.keyframes[index] or {}
		local prev = ani:getPrevKeyframeFor(joint,index)
		ani.keyframes[index][joint] = {index=index,joint=joint,c0=c0 or (prev and prev.c0 or joint.C0),c1=c1 or (prev and prev.c1 or joint.C1),modifier=modifier}
	end
	function ani:ignoreJoints(tab)
		ignored = {}
		for i,v in pairs(tab) do
			ignored[v] = true
		end
	end
	function ani:updateFrames(isLooped)
		local prev = {}
		local oframes = isLooped and #self.frames > 0 and self.frames[#self.frames] or {}
		self.frames = {}
		for i=1,self.length do
			if self.keyframes[i] then
				for joint,tab in pairs(self.keyframes[i]) do
					prev[joint] = tab
				end
			end
			local t = {}
			for _,joint in pairs(joints) do
				local kbegin = prev[joint] 
				if not kbegin then
					local wc0,wc1 = oframes[joint] and oframes[joint].c0 or joint.C0,oframes[joint] and oframes[joint].c1 or joint.C1
					kbegin = {index=1,c0=wc0,c1=wc1}
				end 
				local kend = self:getNextKeyframeFor(joint,i)
				if kend then	
					local am = (i-kbegin.index)/(kend.index-kbegin.index)
					local lc0 = clerp(kbegin.c0,kend.c0,am)
					local lc1 = clerp(kbegin.c1,kend.c1,am)
					if kbegin == kend then
						lc0 = kend.c0
						lc1 = kend.c1
					end
					t[joint] = {joint=joint,index=i,c0=lc0,c1=lc1,modifier=kend.modifier}
				end
			end
			self.frames[i] = t
		end
	end
	return ani
end

   local ani = newAni(32, {RootJoint,LeftHip,RightHip,Neck,RightSH,LeftSH})
   ani.looped = true
  ani:setKeyframe(16,RootJoint,c0.RootJoint*CFrame.new(0,0,0)*CFrame.Angles(-.02,-.1,0),nil,breathe)
  ani:setKeyframe(16,LeftHip,c0.LeftHip*CFrame.new(0,0,0)*CFrame.Angles(-.4,.05,-.02),nil,breathe)
  ani:setKeyframe(16,RightHip,c0.RightHip*CFrame.new(0,0,0)*CFrame.Angles(.4,-.05,.02),nil,breathe)
  ani:setKeyframe(16,LeftSH,c0.LeftSH*CFrame.new(0,0,0)*CFrame.Angles(.5,.05,-.02),nil,breathe)
  ani:setKeyframe(16,RightSH,c0.RightSH*CFrame.new(0,0,0)*CFrame.Angles(-.5,-.05,.02),nil,breathe)
  ani:setKeyframe(16,Neck,c0.Neck*CFrame.Angles(-.05,.1*0.8,0),nil,breathe)

  ani:setKeyframe(32,RootJoint,c0.RootJoint*CFrame.new(0,0,0)*CFrame.Angles(-.02,.1,0),nil,breathe)
  ani:setKeyframe(32,LeftHip,c0.LeftHip*CFrame.new(0,0,0)*CFrame.Angles(.4,.05,-.02),nil,breathe)
  ani:setKeyframe(32,RightHip,c0.RightHip*CFrame.new(0,0,0)*CFrame.Angles(-.4,-.05,.02),nil,breathe)
  ani:setKeyframe(32,LeftSH,c0.LeftSH*CFrame.new(0,0,0)*CFrame.Angles(-.5,.05,-.02),nil,breathe)
  ani:setKeyframe(32,RightSH,c0.RightSH*CFrame.new(0,0,0)*CFrame.Angles(.5,-.05,.02),nil,breathe)
  ani:setKeyframe(32,Neck,c0.Neck*CFrame.Angles(-.05,.1*0.8,0),nil,breathe)

   PossibleActions.Walk=ani
end