Legs moving at the same time using IK

Help and Feedback Scripting Support
#1

So, I was making an IK system, and both of the legs move at the same time. I don’t know any solutions and would like some help.

code:

local Adjust = {
	[1] = {
		FootPlanter = Character:WaitForChild("RLStep",5):: Part,
		Hip = Character.Torso.RightHipAttachment:: Attachment,
		Foot = Character["Right Leg"].RightFootAttachment:: Attachment,
	},
	[2] = {
		FootPlanter = Character:WaitForChild("LLStep",5):: Part,
		Hip = Character.Torso.LeftHipAttachment:: Attachment,
		Foot = Character["Left Leg"].LeftFootAttachment:: Attachment,
	}
}
RunService.RenderStepped:Connect(function()
	for _, Leg in pairs(Adjust) do
		local Distance = (Leg.Foot.WorldCFrame.Position - Leg.FootPlanter.Position).Magnitude
		if Distance > .5 and LCD == false then
			local Cast = Raycast(((Leg.Hip.WorldCFrame.LookVector)*3) + Vector3.new(0,-2,0),Leg.Hip.WorldCFrame.Position)
			if Cast then
				Leg.FootPlanter.Position = Cast.Position
			end
		end
	end
end)

vid: