<s>
The	O
simulation	O
is	O
executed	O
in	O
the	O
RoboCup	O
Simulated	O
Soccer	O
Server	O
3D	O
(	O
rcssserver3d	O
)	O
which	O
runs	O
on	O
Linux	B-Application
,	O
Windows	O
and	O
Mac	B-Operating_System
OS	I-Operating_System
X	I-Operating_System
.	O
</s>
<s>
The	O
underlying	O
simulation	O
engine	O
is	O
SimSpark	B-Application
.	O
</s>
<s>
Agents	O
communicate	O
with	O
the	O
soccer	O
server	O
via	O
TCP	B-Protocol
,	O
by	O
default	O
on	O
port	O
3100	O
.	O
</s>
<s>
Messages	O
are	O
sent	O
using	O
Lisp-like	O
S-expressions	B-Protocol
in	O
single-byte	O
ASCII	B-Protocol
,	O
prefixed	O
by	O
a	O
32-bit	O
unsigned	O
integer	O
representing	O
the	O
length	O
of	O
the	O
following	O
string	O
.	O
</s>
<s>
The	O
simulation	O
server	O
does	O
not	O
have	O
a	O
GUI	B-Application
of	O
its	O
own	O
.	O
</s>
<s>
Instead	O
,	O
a	O
dedicated	O
monitor	O
application	O
connects	O
to	O
the	O
server	O
via	O
TCP	B-Protocol
port	O
3200	O
and	O
receives	O
information	O
about	O
the	O
state	O
of	O
play	O
.	O
</s>
<s>
The	O
SimSpark	B-Application
simulation	O
system	O
is	O
a	O
generic	O
simulator	O
,	O
capable	O
of	O
simulating	O
different	O
agent	O
models	O
.	O
</s>
<s>
The	O
simulation	O
platform	O
,	O
SimSpark	B-Application
is	O
capable	O
of	O
extension	O
via	O
custom	O
perceptors	O
,	O
but	O
this	O
is	O
not	O
allowed	O
in	O
competitions	O
.	O
</s>
