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Here is a Blender tutorial that presumes no special knowledge for makinggames with built in physics.http://wiki.blender.org/index.php/BSoD/Introduction_to_the_Game_Engine/The_Format_of_the_Tutorial#What_skills_will_you_need_to_know_in_advanceThe gist of it is, you hook up sensors to controllers to actuators(drag-and-drop).I think it could work well for simulating robotics.