Step Offset for Rigidbody Character

This is something I've had difficulty with as it's hard to produce smooth results. I shot a raycast to the ground originating from transform.position + (transform.up stepHeight + offset) + (moveDirection.normalized (capsuleRadius + capsuleRadiusOffset)) to put the origin slightly above the max step and in front of the capsule in the desired move direction. Then you shoot the raycast the stepHeight. If you hit something you can either lerp the transform position to the hit point with a stepSmooth variable or subtract the hitPoint from the transform position and add that offset to your movement vector. (this is off the top of my head)