Player/Stage has emerged as one of the leading candidates for an open, standardized robot control and simulation interface. Player is control software with built-in support for a wide range of robots, sensors, and actuators. Stage is a multi-robot simulation environment designed to simulate large populations of robots. There is also a lesser known component called Gazebo that is fully compatible with Stage but designed to simulate small populations of robots with much higher fidelity. The USC Robotics Lab has released a new technical report entitled, Design and Use Paradigms for Gazebo, an Open Source Multi-Robot Simulator. The paper sites examples such as the use of Gazebo to simulate the dynamic balancing properties of the Segway RMP. Player/Stage is Free Software licensed under the GNU GPL.