(help)UPBGE0.3 armature action

The foot is several IK constraints,

There’s no problem at first:

After running for a while:

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Is it a bug or is it set incorrectly

Use constraint angle rotation - for legs bone, because IK rotation bone not right rotation, in panel constraint angle rotation setup use world/local/local together parent - this setup get for you rotation if you parenting armature to cube or empty for movement you character