WOW! That's a huge improvement!:biggrin:  Frame 11, exactly the same set up as previous image, but with new foot geometry. White outline is old position of foot. The new geometry stretches one vertex in the foot out the the start of the toe actor.

For the left foot this is close to a complete cure, however the right foot, though better, is still going badly below the ground in some fremes. Why should it fix one foot, but not the other. Is it something in the pose?

And I'm still not very happy about asking the user to inject new geometry. If there is a better solution, I would like to find it.