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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.
A library in the tradition of openGL and glut that makes it easy to use 3D skeleton objects (like robots, ships, people etc) in openGL programs. Currently the objects are best created with Glazier (glazier.sourceforge.net)
Big Iron is (or will be) a real-time, 3D, first person game of mechanized combat set in the far future. Players build, customize and operate massive anthropomorphic robots on realistic large scale battlefields in single or multiplayer mode.