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I also had some issue with walking and can only really walk if I do the little jumps I've described above, or switch to using the joysticks to walk, which is fine.
I am hoping it's a bug and the devs will fix it.
Walking is the A button by default, but you can't walk while holding your controllers as that initiates a jump. You can rebind that to whatever you feel like.
Climbey uses finger tracking for climbing and jumping by default, this takes a lot of practice but is definitely not broken, I've been playing with these controllers for 2 years (yes, I got knuckles/index controllers back in 2017) and it really is just users not being used to the control scheme.
If you really can't figure it out, you can tick "use trigger" in the input menu on your wrist menu, this will allow you to use your trigger for grabbing and jumping instead.
You can then even go into the SteamVR controller binding menu and change the grab to be any other button you feel would work better.
Go nuts, it's your party.
Thanks for responding and I agree it takes time to get used to the control but if you attempt the first few levels, especially level 3 (as a new user) with the wands and then attempt it with the index controllers there is an obvious difference in experience. I am not a developer so I call it a bug, you are so you don't call it a bug but still there is something that is not quite right between the controllers from a user perspective, i.e. the default use is different. I am not the only one saying that, there are a number of posts saying the same or similar thing.
Also and I am a fairly experienced VR gamer, level 3 is not easy. I am much, much closer with the wands but still can't make that jump. I will keep trying but it's not obvious from the robot exactly what it is you need to do with your hands and buttons to leap upwards, that far.
Make of my feedback what you will but it's an honest response.