Things aren’t parented correctly, but things are kinda crazy in there, and I can’t tell you what you should do-- I think you’re trying to do something impossible with your rig, and I think you’ve overloaded what TrackSphere empties do.
So, the basic structure here is that your TrackSpheres are parented to the armature as an object, so acquire no rotation or location from individual bones in that object, and then your paths, which are unparented, Copy Locations the TrackSpheres. Then, you’re using the rotation of TrackSpheres to do other things via Transformation constraints.
So TrackSphere doesn’t copy the body’s rotation, and if it did, you might be screwing up your transformation constraints (that’s the overload I mentioned); and if it did, it doesn’t much matter, because your paths just copy location and don’t acquire rotation from anything.
The impossible thing I suspect you’re doing here is trying to make the tracks move automatically and appropriately as you move the robot around. The use of all the transformation constraints suggests that. I’m sure just about everybody tries doing that at some point or another, but it’s not possible. The most concise explanation of why it’s not possible is that how far you need to roll depends not on where you are but on where you’ve been, and Blender doesn’t know that, doesn’t keep track of it.
If that’s what you’re trying to do, and you agree that it’s impossible, then I think that can simplify your plan quite a bit, so my recommendation is to simplify-- clear all constraints, unparent everything, delete the armature, and rebuild the rig from scratch.