Hi everyone, it's the first time for me asking for help in a forum, but I don't know how to solve my problem, also I'm not native english, so sorry if I make a mistake on my explanation.
I rigged my character using mesh for the arms, path and IK constraints, like in the photo.
My problem is that I want the feet to stay on the ground and not go through the floor when I move down the center of the body. I'm not sure if this is not posible with my specific rig, if there is other solution I'm happy to hear it.