Solictors Undertaking and FDR hearing

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We had a FDR hearing in February 2015 and it was agreed by my solicitor that, by an undertaking to the Court, he would use £140,000 worth of the equity from the sale of our house to pay off various credit card debts and loans. Recently, in the last month since our house sold, I have agreed to settle the debts for 50% of the value. My ex-wife has agreed that as long as the debts are paid I can keep the balance to re-house. My solicitor won't pay the loans off and send me the balance. He has now said it seems that the only way is to pay the monies into the Court and for me to apply for it through them. The delay would mean the agreements are withdrawn and I would be homeless. I have suggested my ex-wife and I, draw up a variation agreement. Will that work or what else can I do?