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First tests of Bullet physics on UWSim

We are happy to show the first experiments of Bullet physics running on UWSim. The following video shows a first experiment of Bullet physics integration into our underwater simulator. The scenario consists of a water tank with a printed poster on the bottom, an I-AUV and a black box. The I-AUV manipulator is controlled with a joystick through ROS, so that contacts with the black box are established. As expected, the black box position is updated according to the contacts and forces that are applied. This is the first step towards simulating intervention missions requiring physical interaction with the environment, such as grasping, manipulating valves, etc.