I model a wheel robot with 4 legs and a control system for it. Interaction between wheel and ground by Spatial Contact Force. I try to use a ground profile modeled in other program, but there in no interaction between it and wheels. So now I model uneven surface by combining different Solid blocks.
I measure distance between the robot frame and flat surface by Transform Sensor, it is OK. How to measure the distance between robot frame and inclined or uneven surface during robot motion?