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How to make unit walk on model?

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That doesn't have to do anything with the model itself. For a doodad to be walkable set its Pathing Map to None and Is Walkable to True in the Object Editor.

Edit: However, if you want to block some areas to be climbed (like the side walls of the stairs) or to block for units to unrealistically walk over vertical walls, you have to make a fitting Pathing Map for your doodad. Here is how to do it: Custom Pathing Maps.
 
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