Cant make characters pelvis move up and down on ik foot placement

Help and Feedback Code Review
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#1

greetings, im making ik foot placement and im struggling with pelvis up and down movement like for day and i still cant fix it. can you help me please?

local Footstep_left_ik_raycast = workspace:Raycast(script.Parent.Ragdoll.Activator.LeftFoot.Position + Vector3.new(0,2,0),Vector3.new(0,-2.3,0),rayparams)

IKs.IK_LEFT_FOOTSTEP.Enabled = Footstep_left_ik_raycast ~= nil and Footstep_left_ik_raycast.Distance <= 2

if Footstep_left_ik_raycast and Footstep_left_ik_raycast.Distance <= 2.2 then
	LEFT_FOOTSTEP_TARGET.WorldPosition = Footstep_left_ik_raycast.Position + Vector3.new(0,0.2,0)
end

local Footstep_right_ik_raycast = workspace:Raycast(script.Parent.Ragdoll.Activator.RightFoot.Position + Vector3.new(0,2,0),Vector3.new(0,-2.3,0),rayparams)

IKs.IK_RIGHT_FOOTSTEP.Enabled = Footstep_right_ik_raycast ~= nil and Footstep_right_ik_raycast.Distance <= 2

if Footstep_right_ik_raycast and Footstep_right_ik_raycast.Distance <= 2.2 then
	RIGHT_FOOTSTEP_TARGET.WorldPosition = Footstep_right_ik_raycast.Position + Vector3.new(0,0.2,0)
end

local hipraycast = workspace:Blockcast(CFrame.new(humrootpart.CFrame.Position - Vector3.new(0,humrootpart.Size.X/2,0)) * humrootpart.CFrame.Rotation,humrootpart.Size,Vector3.new(0,-hum.HipHeight*2.3,0),rayparams)
if hipraycast then
	if not Footstep_left_ik_raycast or not Footstep_right_ik_raycast then
		var.currentwaistpos = math.clamp(var.currentwaistpos - 0.1,-1,1)
	else
		local averageFootHeight = (Footstep_left_ik_raycast.Position * Vector3.new(0,1,0) - Footstep_right_ik_raycast.Position * Vector3.new(0,1,0)).Magnitude

		var.currentwaistpos = math.clamp(averageFootHeight-hipraycast.Distance,-1,1)
	end
else
	var.currentwaistpos = math.clamp(var.currentwaistpos - 0.1,-1,1)
end
char.LowerTorso.Root.C1 = CFrame.new(0,-var.currentwaistpos + 0.1,0)

#2

used math.abs on left leg and right leg positions and it works fine now