Cameron White

The joint limits and collision shapes have some mismatches - for example, the ‘arm_upper_R’ and ‘arm_lower_R’ joints are the ones with collision shapes, but the constraints are attached to ‘jt_wrist_r_’ and ‘jt_elbow_r_’

Terrain is optional - you can still have foot planting enabled without it

You should inspect the CHOP network that was generated. IIRC it defaults to doing a velocity-based approach for detecting when the feet are planted, which might not be working well in your case if the original mocap has lots of sliding.