The easiest by far would be to make or find a simulator. Dealing with a real robot is a pain in the ass. Gazebo is a good robot simulator -- part of this tookki

The easiest by far would be to make or find a simulator. Dealing with a real robot is a pain in the ass. Gazebo is a good robot simulator -- part of this tookkit: http://playerstage.sourceforge.net/gazebo/gazebo.html http://playerstage.sourceforge.net/gazebo/gazebo.html It's free and good. I'm sure someone has made some hooks into it. Building those hooks would be a subset of building your own simulator.