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 }
}