improving readme

README.md

@@ -2,7 +2,7 @@
 
 # Grip
 
-Grip is a prototyping toolbox for robot manipulation research. It contains a collection of tools for creating robot manipulation environments, loading arbitrary robot arms and grippers through URDF, as well as handling and acquiring data from simulated and real RGBD cameras. It also supports ROS2 allowing created environments or applications to be easily integrated in the ROS2 ecosystem.
+Grip is a prototyping toolbox for robot manipulation research powered by [Bullet3](https://github.com/bulletphysics/bullet3). It contains a collection of tools for creating robot manipulation environments, loading arbitrary robot arms and grippers through URDF, as well as handling and acquiring data from simulated and real RGBD cameras. It also supports ROS2 allowing created environments or applications to be easily integrated with the ROS2 ecosystem.
 
 ## Installation <a name="installation"></a>
 
@@ -55,7 +55,7 @@ Launch file:
 ros2 launch grip ros_arm.launch.py
 ```
 
-You should be able to see a bullet simulation of a panda arm, and a pre-configured rviz displaying the robot model, state, and point cloud as below. The main node for this example is located at `grip/grip_examples/robot/ex04_ros_robot.py`. For more examples see `grip/grip_examples` and `grip/launch`.
+You should be able to see a simulation of a panda arm, and a pre-configured rviz displaying the robot model, state, and point cloud as below. The main node for this example is located at `grip/grip_examples/robot/ex04_ros_robot.py`. For more examples see `grip/grip_examples` and `grip/launch`.
 
 ![Basic ROS2 demo](./grip_assets/media/basic_demo_2x.gif)
 
@@ -65,13 +65,13 @@ Launch file:
 ```
 ros2 launch grip moveit_demo.launch.py
 ```
-You should be able to see a bullet simulation of a panda arm, and a pre-configured rviz displaying the robot model, state, and point cloud, and moveit planning scene as below. The main node for this example is located at `grip/grip_examples/robot/ex05_ros_robot_moveit.py`. For more examples see `grip/grip_examples` and `grip/launch`.
+You should be able to see a simulation of a panda arm, and a pre-configured rviz displaying the robot model, state, and point cloud, and moveit planning scene as below. The main node for this example is located at `grip/grip_examples/robot/ex05_ros_robot_moveit.py`. For more examples see `grip/grip_examples` and `grip/launch`.
 
 ![Basic ROS2 demo](./grip_assets/media/moveit_demo.gif)
 
 
 ## Topics, services and actions of simulated ROS robot
 
-The provided ROS2 interface2 should allow for ROS standard communication (e.g. if you want to connect the robot to moveit, or subscribe to its topics, tf, services, actions, sensors, etc)
+The provided ROS2 interfaces should allow for ROS standard communication (e.g. if you want to connect the robot to moveit, or subscribe to its topics, tf, services, actions, sensors, etc)
 
 Happy coding!