Quote - "AP4 walk" with limits set and new geom. Here is a are 29 frames of the walk cycle on a straight path (29 loops better than 30). As you can see, the left foot is fairly good, but the right foot still goes below the ground in places. The new geom helps a lot , but is not a complete cure.

Overlooked this, due to cross-posting.

Are you using a walk path?  Does this show up in the walk-in-place, or when the walk is applied as a regular pose? 

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Cage can be an opinionated jerk who posts without thinking.  He apologizes for this.  He's honestly not trying to be a turkeyhead.

Cage had some freebies, compatible with Poser 11 and below.  His Python scripts were saved at archive.org, along with the rest of the Morphography site, where they were hosted.