CoppeliaSim forums

Hi,
I am a student writing a thesis on an intelligent motion control system for an underwater robot. I decided to simulate my robot in CoppeliaSim. I've been trying for a couple of days to find information about how I can simulate underwater space or how to configure the robot so that it behaves as if it is in the water. So far I haven't found anything useful except ACM-R5. Do you have any links or just tips on how I can do this?

Hello,

in CoppeliaSim you cannot simulate water, you can just simulate some of its effects, e.g. buyoancy and drag. So to mimic an underwater behaviour, you would add a vertical force to each dynamic shape (with sim.addForceAndTorque). The amplitude of the force depends on the buyoancy that you need.
Additionally, you can add a drag force to each dynamic shape (also with sim.addForceAndTorque) that is e.g. inversely proportional to the velocity (with sim.getVelocity).

And yes, this is exactly what is happening with the demo robot in Models/robots/mobile/ACM-R5.ttm

Cheers