I am still getting comfortable with Unity IK. I spent a lot of time trying to figure out how to do foot planting. That is, using the IK to blend between it and the animation at the appropriate time so that the foot will stick perfectly flat to the floor upon contact. This makes actions like ascending a staircase or walking over bumpy terrain more convincing and have relatively less clipping. I need to start with something simpler if I am to achieve meaningful results. I have nothing to show for today.