Did I notice it right that the feet aren't parented to the rest of the leg? If so, what's the reason?
I thought it more important to keep the feet flat on the ground. If I parented the feet to the rest of the leg, it would rotate off the ground plane and my only gain would be keeping its location relative to the ankle.
Therefore I find it easier to leave it unparented, rotate the leg, and then align the foot to the ankle while staying flat on the ground.
Good question btw.