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 . <EOS>