Feet Not Touching Ground + Feet Sink in Ground When Crouching

Hi everyone, I’m building a basic locomotion system using some of the animations from Game Animation Sample Project. The issue is that when going from idle to crouch, the feet sink in the ground, jumps back up and then finishes with the front left slightly above the ground which is super annoying. I’m not sure how to go about fixing this. Here’s a video.

edit: I added a video to the control rig setup, it’s the default one but I feel it may be to do with the IK setup.

The Anim sequence, 1st pic under vid on imgur shows the foot above the root bone. Fix the anim.