A method comprising: receiving, at data processing hardware of a robot, image data of an environment about the robot from at least one image sensor, the robot comprising a body and legs; characterized in that the method further comprises: generating, by the data processing hardware, a body-obstacle map, a ground height map, and a step-obstacle map based on the image data; wherein the body-obstacle map indicates locations in the environment that are safe or not safe for the body of the robot to travel through; and wherein the step-obstacle map indicates locations in the environment where the legs of the robot should or should not step; generating, by the data processing hardware, without use of the step-obstacle map, a body path for movement of the body of the robot while maneuvering in the environment based on the body-obstacle map; and generating, by the data processing hardware, a step path for the legs of the robot while maneuvering in the environment based on the body path, the body-obstacle map, the ground height map, and the step-obstacle map. receiving, at data processing hardware of a robot, image data of an environment about the robot from at least one image sensor, the robot comprising a body and legs; characterized in that the method further comprises: generating, by the data processing hardware, a body-obstacle map, a ground height map, and a step-obstacle map based on the image data; wherein the body-obstacle map indicates locations in the environment that are safe or not safe for the body of the robot to travel through; and wherein the step-obstacle map indicates locations in the environment where the legs of the robot should or should not step; generating, by the data processing hardware, without use of the step-obstacle map, a body path for movement of the body of the robot while maneuvering in the environment based on the body-obstacle map; and generating, by the data processing hardware, a step path for the legs of the robot while maneuvering in the environment based on the body path, the body-obstacle map, the ground height map, and the step-obstacle map. generating, by the data processing hardware, a body-obstacle map, a ground height map, and a step-obstacle map based on the image data; wherein the body-obstacle map indicates locations in the environment that are safe or not safe for the body of the robot to travel through; and wherein the step-obstacle map indicates locations in the environment where the legs of the robot should or should not step; wherein the body-obstacle map indicates locations in the environment that are safe or not safe for the body of the robot to travel through; and wherein the step-obstacle map indicates locations in the environment where the legs of the robot should or should not step; generating, by the data processing hardware, without use of the step-obstacle map, a body path for movement of the body of the robot while maneuvering in the environment based on the body-obstacle map; and generating, by the data processing hardware, a step path for the legs of the robot while maneuvering in the environment based on the body path, the body-obstacle map, the ground height map, and the step-obstacle map.