This work addresses the problem of training of operators for telemanipulat¡on tasks. In particular, it focuses on
the development of a physics based virtual environment that allows a user to train in the control of an innovative robotic
tool designed for the retrieval of spent nuclear fuels. The robotic device is designed to adapt to very different
environments, at the cost of an increased complexity in its control. The virtual environment provides realistic simulation of
robot dynamics. The two most challenging tasks related to robot control have been identified and implemented in the simulation,
leading to an effective tool for the training. The developed application has been tested with potential users, and the results of the preliminary tests have been very encouraging.
