Here, we will use the left object detection feature in order to allow the model to walk over blockages. Through this, it will become possible to walk up stairs and walk up a steep slope.
In this section, I will explain about the finger solid detection feature. In order to have the fingers touch a solid, it is necessary to manipulate each finger joint slightly.
Using the finger solid detection feature, the movement of the fingers will be automatically changed, and the fingers will move around the solid.
However, if the base of the finger is separated from the object, the fingers might sink into the object. In order to prevent this, it is necessary to change the way that the finger touches the solid, or not use the detection feature and move the fingers manually.