Ik Grounder Based on Unity's Package Animation Rigging

1. Import Animation Rigging Package From the Package Manager
   
2. Put a Rig Builder Component on Your Bipedal GameObject
   
3. Set Up Ik Rig
   One Ik Rig (Child of Bipedal GameObject) with Three Constraints as Children
   
   
   Reference Foot Ik Rig in Rig Builder from Step 2
4. Set Up Two Bone Constraints for Each Leg
   
   
   
   THE ORDER OF COMPONENTS AND GAMEOBJECTS MUST MATCH FOR THE CORRECT ORDER OF EXECUTION
   Extact Transform Constraint Must Always Preceed Two Bone/Multi Position Constraint and Pelvis Constraint GameObject Must Always Preceeed Two Bone Ik Constraints Objects, This Matters because of the Burst Compiler Execution Order
   Set Hint Weight on Both Two Bone Ik Component to 0, to stop Leg Bending in unwanted way
   
5. Set Foot Forward For Feet (Create A Transform Under Each Ik Constraint Facing the Forward of Foot, Used for Relative IK Rotation)
   
   
   
6. Set Up Grounder on Bipedal Object (where Animator Component is)
   
   Bonus. You Can setup Animation Curves of "LeftFootUp" and "RighFootUp" for optimal Ik Rotation, Foot only rotates to Surface When It's on Ground!