How to simulate a robot in the underwater environment

Hello,

In the mujoco2.0 demo video, I see there is water simulation environment. So I want to simulate a robot in the underwater environment, but I can't find any example about that. Can anyone provide some help about the underwater environment simulation?

Thanks!

 

can mujoco bulid water simulation environment?

 

You could set the 'density' and 'viscosity' options to make the environment seem more fluidy (http://www.mujoco.org/book/XMLreference.html#option).
And you could reduce gravity to cause a floating effect.

This won't cause motion in the fluid though, so it won't be exactly realistic. You could enable 'wind' to create a stationary flow.

 

Thank you very much for answering my question, I also want to ask, can I create some object motion in the virtual water?For example, in the water I want to create fish that can move, fish that I just want to move, and I don't care about their internal structure.

 

You could just create bodies for each fish and set their location programmatically at run-time.

 

非常感谢您的答复和帮助。我会尝试的。