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:

http://cdn.joxi.ru/uploads/prod/2014/07/12/fe3/d69/caaa954c64398cfbd3c2ab4c083ee57b3113da34.jpg

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:

http://cdn.joxi.ru/uploads/prod/2014/07/12/91e/d04/d0a5f708d8cea1f606fb1c69fb9a86c887f93538.jpg

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:

http://cdn.joxi.ru/uploads/prod/2014/07/12/397/8b5/d48dd3053a902f9e437da475582bfbf1cafcfb2a.jpg

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