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Some of our former students have developed some very nice software for robot simulation and visual programming. Cogmation's robotSim software is a lightweight 3-D simulator, supporting the packbot, roomba, and iRobot create, with realistic physics implemented by the Ageia PhysXTM Physics Engine. The simulator supports Laser Scanner, IR, Sonar, GPS, and other sensors. Their robotFoundry software supports a complete graphic coding environment for robot control software.
Best of all, you can get a free activation license for Mac/Windows just by filling in a survey.

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