INITIALIZING SIMULATION…
GGLDNL Hexapod Simulator
| 18-DOF WASM PHYSICS
← CASE STUDY
BUILD NOTES
SIMULATION: RUNNING
FPS:
60
Draw Calls:
0
Tris:
0
BUILD NOTES
✕
CURRENT BUILD
18-DOF MuJoCo physics
GGLDNL-derived IK
Tripod / Wave / Ripple gait
Terrain interaction
NEXT
Body stabilization
Sensor perception
Autonomous locomotion
▶ CONTROLS
TELEMETRY ◀
Simulation Control
Physics
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Pause
Reset Pose
Drop (0.25m)
0.5x
1.0x
2.0x
Locomotion & Gait
Tripod
Tripod (0)
Wave (1)
Ripple (2)
Stand
Sit / Rest
Zero Vel
Forward Speed (Vx)
0 mm/s
Strafe Speed (Vy)
0 mm/s
Turn Rate (Yaw)
0 deg/s
Body Pose
IK Kinematics
Height Offset
0 mm
Roll Tilt
0°
Pitch Tilt
0°
Yaw Heading
0°
Zero Body Pose
Visualization
Layers
Robot Mesh
Skeleton
Foot Contacts
IK Targets
Support Poly
Environment
Floor Grid
Shadows
Robot State
Nominal
▶
Base Position (m)
X: 0.000, Y: 0.000, Z: 0.084
Orientation (RPY)
R: 0.0°, P: 0.0°, Y: 0.0°
Measured Speed
Vx: 0 mm/s, Vy: 0 mm/s
Active Stance
6 / 6 Feet Grounded
Ground Contacts (6 Feet)
MuJoCo Physics
FR (L1)
GND
FL (L6)
GND
MR (L2)
GND
ML (L5)
GND
RR (L3)
GND
RL (L4)
GND
Leg Joint Angles (°)
18 Actuators
Leg
Coxa
Femur
Tibia
Visualization Legend
Overlay
Foot Grounded
Actual Physics Contact
Foot Swing
Physical Tibia Tip
IK Target
Setpoint (+Drop Line)
Support Polygon
Dynamic Stance Area
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■
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▼
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RESET
STOP