I just finished reading this article which takes you step-by-step in how to simulate an environment (i.e., World) for a Virtual Robot using the Microsoft Robotics Studio Simulator (free to use). Best of all, it includes a code download! I am planning to go through this myself later this week, but thought that I would share the post today to for those of you who have the time and interest.
The article outlines the following topics:
- Building the robot animation
- Building the environment
- Driving a robot or simulation
- Creating entities
Take a look at the article and download the code to try it yourself: Click here
~Robert Shelton

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