A brief description:

UchilSim is a robotic simulator specially developed for the RoboCup four-legged league. It reproduces with high accuracy the dynamics of AIBO motions and its interactions with the objects in the game field. Their graphic representations within the game field also possess a high level of detail.

The main design goal of the simulator is to become a platform for learning complex robotic behaviors which can be directly transferred to a real robot environment.

You can find further information visiting the Documentation section.