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ROSEN means RObotic Simulation Erlang eNgine; it is a software library, written in Erlang, which simulates 3D environments and in particular autonomous mobile robots, each with its behaviour and interaction capabilities.
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)