スクリプトでIKを高度に制御したい。

Question

とりえず今はスクリプトでIKのウエイトを１にしているのですがそうすると足がすり足で動いてしまって足を上に上げる動作が実現できません。

１、自分がやりたいことは普通に歩き段差の時にIKが動くといった方法なのですがこのウエイトを動的にスクリプトで操作する方法が思いつかないのですがどうすればいいのでしょうか？

２、段差か平地とかどうかの認識方法も知りたいです。

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using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class Player_IK : MonoBehaviour
{
    Animator ani;
  //  public Transform LeftFoot;
  //  public Transform RightFoot;

    
    private bool cLeft,cRight;
    private bool s;//IKを実行するかどうか？
    private float f = -0.1f;
    // Start is called before the first frame update
    void Start()
    {
         cRight = cLeft = false;
        s = false;
        ani = GetComponent<Animator>();

        isRightFootIK = false;
        isLeftFootIK = false;

    }

    private Vector3 rightFootPos;
    private Vector3 leftFootPos;

    private Quaternion rightFootRot;
    private Quaternion leftFootRot;

    private bool isRightFootIK;
    private bool isLeftFootIK;

    private Vector3 rayPosoffset = Vector3.up * 0.3f;
    private float maxDistance = 1.0f;
    private float ray_range = 1.0f;


    /*ウエイト取得*/
    private float rightFootWeight;
    private float leftFootWeight;

    // Update is called once per frame
    void Update()
    {



        //   rightFootWeight = ani.GetFloat("Right");
        //   leftFootWeight = ani.GetFloat("Left");


        rightFootWeight = 1;
        leftFootWeight = 1;

        Debug.Log("righ: " + rightFootWeight);
        Debug.Log("Left: " + leftFootWeight);

    }

    private void OnAnimatorIK()
    {

        Ray r = new Ray(ani.GetIKPosition(AvatarIKGoal.RightFoot) + rayPosoffset, -transform.up);
        RaycastHit rayHit;

        /*右足のIK*************************/
        if (Physics.Raycast(r, out rayHit, ray_range))
        {
            Debug.DrawRay(ani.GetIKPosition(AvatarIKGoal.RightFoot) + rayPosoffset, -transform.up * ray_range, Color.red);

            rightFootPos = rayHit.point;
            rightFootRot = Quaternion.FromToRotation(transform.up, rayHit.normal) * transform.rotation;
            isRightFootIK = true;
        }
        else
        {
            isRightFootIK = false;
        }


        /*左足のIK*************************/
        r = new Ray(ani.GetIKPosition(AvatarIKGoal.LeftFoot) + rayPosoffset, -transform.up);

        if (Physics.Raycast(r, out rayHit, ray_range))
        {
            Debug.DrawRay(ani.GetIKPosition(AvatarIKGoal.LeftFoot) + rayPosoffset, -transform.up * ray_range, Color.red);

            leftFootPos = rayHit.point;
            leftFootRot = Quaternion.FromToRotation(transform.up, rayHit.normal) * transform.rotation;
            isLeftFootIK = true;
        }
        else
        {
            isLeftFootIK = false;
        }


        //        Debug.DrawLine(RightFoot.position, RightFoot.position + new Vector3(0, f, 0),Color.red);
        //        Debug.DrawLine(LeftFoot.position, LeftFoot.position + new Vector3(0, f, 0),Color.blue);




        if (ani.GetCurrentAnimatorStateInfo(0).IsName("Idle") == true)
        {

        }


        /*左足*/
        if (isLeftFootIK)
        {
        //    Debug.Log("left");
            ani.SetIKPositionWeight(AvatarIKGoal.LeftFoot, rightFootWeight);
            ani.SetIKRotationWeight(AvatarIKGoal.LeftFoot, rightFootWeight);

            ani.SetIKPosition(AvatarIKGoal.LeftFoot, leftFootPos + new Vector3(0,0.1f,0));
            ani.SetIKRotation(AvatarIKGoal.LeftFoot, leftFootRot);
        }

        /*右足*/
        if (isRightFootIK)
        {
          //  Debug.Log("right");

            ani.SetIKPositionWeight(AvatarIKGoal.RightFoot, leftFootWeight);
            ani.SetIKRotationWeight(AvatarIKGoal.RightFoot, leftFootWeight);

            ani.SetIKPosition(AvatarIKGoal.RightFoot, rightFootPos  + new Vector3(0, 0.1f, 0));
            ani.SetIKRotation(AvatarIKGoal.RightFoot, rightFootRot);
        }

    }
}