The problem with real robots is that they keep breaking. Little things add up, hardware acts weird, batteries run out. Simulations are much easier to deal with.
Above is a picture of Markus and I trying to debug the AUV in the water. The AUV is slightly positively buoyant - which means at least you don't need to worry about it sinking..
NES Controller Slider-Based Light Theremin
22 minutes ago