Robotic Manipulator Development and Simulation Environment in Python and Blender. IMPORTANT: Development moved to github. http://github.com/ajnsit/r2d3
pSmunli is another opensource Physics SiMUlatioN LIbrary in 3D environment. To perform more realistic simulation on your application(such as game and scientific simulation). It supports OpenGL and DirectX.
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The GDAC (Generic Device Access and Control) framework is an extensible multithreaded cross platform (Linux (x86,VME)/Windows) C++ device control environment. It typically will be used as the basis for custom OPC servers or front-end control software.