# Gait on Uneven Terrain

#### About

This tutorial demonstrates how to define a model that includes uneven terrain. This feature is only supported with The Hyfydy Simulation Engine.

- Open the file
`Examples/Gait Uneven Terrain - H0914 - Hyfydy`

This is a normal gait scenario, which uses a special model in which an uneven terrain is generated by adding static box geometry to the model (see the file `data/H0914UT.hfd`

for the full model):

geometry { body = ground type = box pos { x = 2 y = 0.025 z = 0 } dim { x = 2 y = 0.05 z = 1 } ori { x = 0 y = 0 z = 2.855 } } geometry { body = ground type = box pos { x = 4 y = 0.025 z = 0 } dim { x = 2 y = 0.05 z = 1 } ori { x = 0 y = 0 z = -2.855 } } geometry { body = ground type = box pos { x = 6 y = 0.025 z = 0 } dim { x = 2 y = 0.05 z = 1 } ori { x = 0 y = 0 z = 2.855 } } geometry { body = ground type = box pos { x = 7.5 y = 0.075 z = 0 } dim { x = 1 y = 0.05 z = 1 } } geometry { body = ground type = box pos { x = 8.5 y = 0.025 z = 0 } dim { x = 1 y = 0.05 z = 1 } }