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    <p>I've been programming against <a href="http://simspark.sourceforge.net/wiki/index.php/Main_Page" rel="nofollow noreferrer">SimSpark</a>. It's the open-source simulation engine behind the <a href="http://en.wikipedia.org/wiki/RoboCup_3D_Soccer_Simulation_League" rel="nofollow noreferrer">RoboCup 3D Simulated Soccer League</a>.</p> <p>It's extensible for different simulations. You can plug in your own sensors, actuators and models using C++, Ruby and/or RSG (Ruby Scene Graph) files.</p> <p>I don't know if it's the best simulator, but I've enjoyed using it.</p> <p><strong>EDIT</strong> In response to Arkapravo's comment.</p> <p>I have written a .NET API for writing your own RoboCup 3D agents called <a href="https://code.google.com/p/tin-man/" rel="nofollow noreferrer">TinMan</a>.</p> <p>There are a bunch of videos on YouTube of simulated 3D soccer matches. <a href="http://www.youtube.com/watch?v=3rnomVdXx9I" rel="nofollow noreferrer">This is one of my favourites</a>.</p> <p><a href="http://robocup2010.org/" rel="nofollow noreferrer">RoboCup 2010</a> is taking place this week in Singapore, though unfortunately I won't be able to make it.</p> <p>RoboCup 3D runs on a physical simulation engine called <a href="http://simspark.sourceforge.net/" rel="nofollow noreferrer">SimSpark</a>. It has a <a href="http://simspark.sourceforge.net/wiki/index.php/Main_Page" rel="nofollow noreferrer">comprehensive Wiki</a> with lots of information explaining how it all works.</p> <p>My agent is still quite primitive, so I don't have anything published about it just yet. There are plenty of <a href="http://simspark.sourceforge.net/wiki/index.php/Agents" rel="nofollow noreferrer">open source agent implementations</a> in different languages if you're interested.</p>
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    1. USDrew Noakes
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    1. CO@Drew Noakes : Nice to know, do you have any blog/website ? Any screenshots vids etc ? :)
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    2. CO@Arkapravo -- I edited my answer to provide some links for you.
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    3. CO@Drew Noakes : Many thanks, an open source robot enthusiast sure needs help and support as this ! :-)
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