Roblox ik makes my character go upside down

i heard that you can use ik for r6
however there are solutions such as setting the cframe, but it want to use roblox inverse kinematics for a smoother workflow and to be intuitive with my system without putting too much script into it

in this video the amongi is upside down whenever i try to move the part near it

with a script i found it helps until to a certain threshold and then it’ll be upside down

found this script here