“…In the fluids community, various computational fluid dynamics (CFD) solvers also exist [21], [33], [34], [35], [36], [37], [38], [39], [40]. However, these solvers suffer from various deficiencies for use in robotics, including: poor accuracy, generalizability, computational efficiency, and stability over larger time-steps (fully-implicit integration); lack of full differentiability for unsteady flow; and inability to handle fluid-structure interaction (FSI) to properly simulate unsteady, multi-physics coupling between the fluid and solid (e.g., robot) dynamics.…”