How do I make an NPC creature walk smoothly over obstacles?

I have a custom animated rig that simulates walking by applying a BodyVelocity body mover to it. This works fine on flat surfaces and low-grade slopes, the rig walks smoothly, but it stops when it hits a sharp step and it will push any unachored ramps rather than walk up them. The Roblox humanoid, on the other hand, has no problem stepping over obstacles and it doesn’t push around unanchored ramps. My question is, how to I achieve this same walking behavior when using a non-humanoid rig? I have tried using model:MoveTo in a tight loop, this gets it going up steps, but the movement is herky-jerky and not suitable for game play. Any help is greatly appreciated. Thanks in advance.

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Oh, i didn’t read, sorry my bad lol, btw, try with if WalkPoint:NotFinished and model:NotMoving (i dont remind) then model:MoveTo.

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