Inverse Kinematics walk help. (Procedural Animation)

I’m trying to make a character that walks through IK (With Procedural Animation) and the leg follows a target but I need the leg to stay on the ground, and if the legs distance from the target is greater than (e.g. 3) then it brings the leg to the target.

Something like this > Unity procedural animation tutorial (10 steps) - YouTube

https://weaverdev.io/blog/bonehead-procedural-animation

Hopefully this can help you but this is a link to a Dev-Log that discusses the different parts of Inverse Kinematic rigging including the stepping movement similar to the moment in the video link.

@grassy756_unity @PhoenixBurner

Any news on this? I have the same problem