ARM Emulator?

I was wondering if there is a virtual machine or emulator to BeagleBoard or the ARM CPU?

Tanks Armando.

qemu can emulate arm and this might be an option as well

The folks at the Maemo community had further improvements for OMAP3530
over the regular qemu-arm port IIRC, might also be worth checking out:


is there a summary of what those improvements are? i don't
immediately see one.