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You say you have tried a few simulators, are these the ROS ones and you ahve having trouble with usage, or are you looking for what ROS offers in this domain.

Start by having alook at URDF (ros way of representing robot models). A good starting point is http://www.ros.org/wiki/urdf, them hav ea look at RVIZ http://www.ros.org/wiki/rviz and finally Gazebo (the fully fledged simulator used in ROS). Also used for DRC. Links are http://gazebosim.org/.

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