IK and Default Capsule component in the Player

Hello all. Help me understand!
I made IK ​​for the foot, but the default capsule prevents the player:


Here, the left leg should rise and fall right, but prevents capsule. If the radius of the capsule to do less, then get the rules:


But if you reduce the radius of the capsule, then the Coliseum with some parts of the body (which does not capture the capsule) will not:


What to do then? Ik obtained Foot does not make sense to do?