Modelling Shallow Water Correctly #1984
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gpans
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Hi,
I'm a master student trying to use MuJoCo to design an amphibious robot. To simulate the water, my current methodology is to adaptively change the viscosity, density, and wind speed of the simulation based on the position of the robot on a hfield amphibious terrain (see bottom right of video for values).
This somewhat works however is not ideal/accurate as fluid forces are being applied across the entire body whereas in real life in amphibious terrain only half the body would be in water.
Environment_demo.mp4
Is it possible to apply various wind forces on various points of the hfield to mimic top half being air and bottom half being water. Any other suggestions or approaches would be much appreciated.
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