If you are using the ROBOOP package, please let me know. If you want to cite this package in some of your work, please use [18] or the following BIBTEX entry:
@ARTICLE{Gourdeau97,
author = {Richard Gourdeau},
month = sep,
year = 1997,
title = {Object Oriented Programming for Robotic
Manipulators Simulation},
journal = {IEEE Robotics and Automation Magazine},
volume = 4,
number = 3,
pages = {21--29}
}