Pathfinding Jumping Bug

Okay, I’ll be direct. I’m making an NPC that with each “RunService.Heartbeat” calculates a path to a specific point, but when there is an obstacle where it needs to jump, it jumps… But it gets stuck there, I’ve looked in several videos and posts and even I viewed some codes, but nothing helped, can anyone help me?

robloxapp-20240511-2318270.wmv (653,6,KB)

Agent Parameters:

ai.PathParams = {
	AgentRadius = 2.65,
	AgentHeight = 5,
	AgentCanJump = true,
	AgentCanClimb = true,
	WaypointSpacing = math.huge,
	Costs = {
		-- PathModifiers --
		Danger = math.huge,

		-- Materials --
		Water = 20,

		-- Actions --
		Climb = 4
	}
}

Base code:

local ai = require(script.Parent)
local human = ai.Humanoid
local hrp = ai.HumanoidRootPart
local target = ai.Target

local path = ai.PathfindingService:CreatePath(ai.PathParams)
local waypoints = {}

ai.RunService.Heartbeat:Connect(function()
	if target.Value and target.Value:IsA("BasePart") then
		path:ComputeAsync(hrp.Position - Vector3.new(0, hrp.Size.Y/0.75, 0), target.Value.Position)
		if path.Status == Enum.PathStatus.Success then
			waypoints = path:GetWaypoints()
			table.remove(waypoints, 1)
			for i, waypoint in pairs(waypoints) do
				if waypoint.Action == Enum.PathWaypointAction.Jump then
					human.Jump = true
				end
				human:MoveTo(waypoint.Position)
				human.MoveToFinished:Wait()
			end
		else
			return
		end
	end
end)