As SimSpark is used as the RoboCup 3D simulation server, you can subscribe to the mailing list of sserver-three-d to ask questions. Please provide as much detailed information in your email as possible.
Another mailing list, mainly for developers interested in extending the simulator, is simspark-devel.
You can join the IRC channel #simspark on irc.freenode.net to get help and more information.
If you find something lacking in the documentation, let us know. Better yet, if you work out the answer, please update the documentation yourself!