(help) Walking Animation Still Affects Aiming Animation

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1

I want my aiming animation which is on the Upper Body Only( Upper Torso, arms, head) rotatoion to not be affected by lower body walking animation. The Upper Body animation uses a 6 second animation to aim from down(-90) to up(90)
Lower body animation is set to core while upper body animation is set to action 3.

I want to use motor6d either with C0 or transform. to maintain the rotation of the upperbody to be consistent as the upper body animation originally is but the lower torso, which is not included in the upper body animation and its only in the walking animation, is affecting my upper body rotations. How do i fix it?

Here is the code:

--self is the NPC character
function aim()
	if self and target then
		local x1,y1,z1 = self.HumanoidRootPart.CFrame:ToOrientation()
		local x2,y2,z2 = self.LowerTorso.CFrame:ToOrientation()
		local x3,y3,z3 = self.UpperTorso.CFrame:ToOrientation()
		local dist = y1-y2
		local dist2 = z1-z2
		local direction = (target.Position+Vector3.new(0,-0.4,0) - self.UpperTorso.Position).unit
		local verticalAngle = math.deg(math.asin(direction.Y))
		wa.C0 = waC0 * CFrame.new(0, 0.34, -0.114) *  CFrame.Angles(x1-x2, y1-y2, z1-z2) 

--		print(verticalAngle)
		anim.TimePosition = (verticalAngle + 90) / 30
	else
		warn("NPC or Target not found")
	end
end
RunService.Stepped:Connect(aim)
2

I have been having the same issues as you for a long time, I have been following closely, I know its possible as there are a few games on the platform able to achieve it

3

This is exactly what i want to do.

but my character is more custom and the upper body includes both arms and upper torso also my character is A-pose and not I-pose like roblox default r15.

How do i do it? i really need help