I’ve made a script to make cycles easy. I found sometimes hard to see if a foot was sliding with a plain color surface. Here is a video that shows how this script helps in this situation:
Put it in your scripts folder (C:\Users\YourName\Documents\maya\20**-x**\scripts depending on your version of Maya), start Maya and run timGridTooll(); in the script editor.
Software: Maya (any version, tested only on 2013)
File type: MEL
Hope you like it! Feel free to comment if you want.