My last post showed a demo of my ProxyMan tool animating a character and blending an IK solve over the motion capture to fix some feet-to-floor contacts. But it displayed an issue with the feet going through the ground for a single frame, before popping back up. I scrolled the code and figured out that the chain length was being calculated on the goal being position from the previous frame. Was a bit to find, but the fix was simple. Here's the updated render showing both feet contacts fixed:
And for anyone wanting to compare, here's the original video: