FinalIKに追加されたVRIKにて、とりあえず地面設置を行うスクリプト

Unity-GrounderVRIK

public class GrounderVRIK : MonoBehaviour
{
    private BipedIK m_bipedIK;
    private GrounderBipedIK m_grounderBipedIK;

    void Awake()
    {
        this.m_bipedIK = this.GetComponent<BipedIK>();
        this.m_grounderBipedIK = this.GetComponent<GrounderBipedIK>();
        
        if(this.m_bipedIK != null)
        {
            this.m_bipedIK.enabled = false;
        }

        if(this.m_grounderBipedIK != null)
        {
            this.m_grounderBipedIK.enabled = true;
        }
    }

    void LateUpdate()
    {
        if(this.m_bipedIK != null && this.m_grounderBipedIK != null)
        {
            this.m_bipedIK.UpdateBipedIK();
        }
    }
}