Feasibility of simulation of a custom USV with a custom waterproof manipulator

[IamGyal]

Hi,

I'm working on a custom unmanned surface vehicle (USV) with a custom waterproof manipulator (which can be fully-submerged, fully in the air, or partially-submerged) attached to it.

I'm looking for a simulator where I can validate the maths models of the robot.

The ideal case would be where

• there is no need for the user to put equations to calculate the hydrodynamics in the simulator,
• the geometry of the robot, force and torque inputs, and any other necessary parameters are inputted by the user,
• both the USV and the attached manipulator are affected by corresponding hydrodynamics (buoyancy, drag, lift, and added mass)
• the forces and torques (wrenches) propagated between the manipulator and the USV are taken into account
• the combined system (the USV and the manipulator) moves/behaves accordingly and accurately.

Could this be realised with this simulator? Or any other suggestions and advice would be appreciated.

Thank you very much.