You can program your simulated robots using the powerful iRSP (intelligent Robot Software Platform) from Bonavision.
Note: IRSP Framework supports multiple views for developers at any development cycle. IRSP supports the full development life cycles for a robotic system, including planning, execution, and monitoring UPnP is a distributed system environment supporting service-oriented architecture.
Read the complete tutorial directly from the Bonavision dedicated page.
This tutorial was written by Bonavision, it assumes you are familiar with the iRSP environment.