want to walk up and down stairs in an uneven environment

[20220317]

Question

I want to walk up and down stairs in an uneven environment, where the height of the stairs is randomly generated within a range. The feet height needs to adaptively adjust without using any sensors or rays. Are there any effective methods to ensure balance while moving efficiently in this environment？

Build Info

Describe the versions that you are currently using:

• Isaac Lab Version: [2.3.0]
• Isaac Sim Version: [5.1, this can be obtained by cat ${ISAACSIM_PATH}/VERSION]

[RandomOakForest]

Thank you for posting this. A practical way to do this in Isaac Lab 2.3 is to: (1) use the built‑in pyramid stairs height‑field terrain with randomized step heights, and (2) use only base state, joint states, and contact forces (no raycasts) in a controller or RL policy to adapt foot motion and maintain balance. This matches how Isaac Lab’s legged and humanoid examples are structured. I'll move this post to our Discussions section for follow up.