issue rotating 2d active ragdoll

[anterou]

hey guys, i have an issue rotating 2d active ragdoll. it’s brokes when rotates multiple times and teleporting up and down. here is code for movement and balancing:

using UnityEngine;

public class PlayerController : MonoBehaviour
{
    public Animator anim;
    public Rigidbody2D rb;
    public float jumpForce = 10f;
    public float playerSpeed = 5f;
    public float positionRadius = 0.3f;
    public LayerMask ground;
    public Transform playerPos;

    private bool isOnGround;
    private float moveHorizontal;
    private Transform hip;
    private bool isFlipped = false;
    private float lastFlipTime = 0f;
    private const float flipDelay = 0.05f;

    void Start()
    {
        hip = transform.Find("Hip");
    }

    void Update()
    {
        Vector3 mousePos = Camera.main.ScreenToWorldPoint(Input.mousePosition);
        float playerHipX = hip.position.x;

        if ((mousePos.x >= playerHipX && transform.localScale.x > 0) ||
            (mousePos.x < playerHipX && transform.localScale.x < 0))
        {
            if (!isFlipped && Time.time - lastFlipTime >= flipDelay)
            {
                // Flip character based on mouse position (inverted)
                // Save the current position of the player
                Vector3 originalPosition = transform.position;

                // Change the pivot point to the Hip position
                Vector3 hipOffset = transform.position - hip.position;
                transform.position = hip.position + hipOffset * -1;
                transform.localScale = new Vector3(-transform.localScale.x, 1, 1);

                isFlipped = true;
                lastFlipTime = Time.time;
            }
        }
        else
        {
            isFlipped = false;
        }

        moveHorizontal = Input.GetAxisRaw("Horizontal");
        isOnGround = Physics2D.OverlapCircle(playerPos.position, positionRadius, ground);

        if (isOnGround)
        {
            if (Input.GetKeyDown(KeyCode.Space))
            {
                rb.velocity = new Vector2(rb.velocity.x, jumpForce);
            }

            if (moveHorizontal != 0)
            {
                anim.Play(moveHorizontal > 0 ? "WalkBack" : "Walk");
                rb.AddForce(Vector2.right * moveHorizontal * playerSpeed, ForceMode2D.Force);
            }
            else
            {
                anim.Play("Idle");
            }
        }
        else
        {
            anim.Play("Idle");
        }
    }
}

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class Balance : MonoBehaviour
{
    public float targetRotation;
    public Rigidbody2D rb;
    public float force;

    void FixedUpdate()
    {
        rb.MoveRotation(Mathf.LerpAngle(rb.rotation, targetRotation, force * Time.fixedDeltaTime));
    }
}