Attached Link: http://www.eurus.dti.ne.jp/~masasi/Service/FemMotion.html

Easy one first. ;) Masa's high_heel.py from the link is for the P4 woman, but should be adaptable to others. Collision detection is built in to later versions of Poser - what version are you using? Doing it by Python would be a tall order, I fear. There's a lot of maths to do and an interpreted script wouldn't be very fast.