Sounds like you might want something more interactive than a script maybe? There’s a remote control mode for The Handy, I’m sure other toys have similar options.
This site also has a bunch of scripts set to music instead of porn.
If you do want to create your own scripts try OFS, but “scripting” in this context really is just telling the device what to do at what point in time, not like programming a computer but more like (pre)programing a robot or cnc mill.