I'm sorry I made a mistake to which one is causing the problem. It is the ikHandle that is connected to my character's feet. Though here is the bad part. Re-building the legs and the ikhandles don't solve the problem. In addition, it can't be a problem adding IKhandles because I have IKHandles attatched to both wrists. Is it because I am using IKRPsolvers to the ankles. I read somewhere that said that IKrpSolvers are good for the wrist but never said anything whether you should use this type for the ankles.