OpenSim - Open Simulator. Primarily a 3D simulator for multiple indoor and outdoor mobile robots. Includes 3D real-time rendering (via OSG) and a physics engine (via ODE). Current emphasis is on manipulators.
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I've posted my latest source snapshot for the project in the file area for anyone interested in browsing/scavenging. There are the beginnings of a manual, but building it will still be a challenge without many docs (and requoires building some library dependencies - such as OSG). The graphics is still pretty basic (- only primitive shapes and no terrain collision, shadows etc. yet). Main changes: switched from GLOW to GTKmm GUI; now using boost-build; many minor bug fixes.
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