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This project is not currently being supported but feel free to use it as an example.
delta3d is a robust simulation platform built using open standards and open source software. It features full toolchain development supporting a wide variety of free and commercial software.
A free, industrial quality library for simulating articulated rigid body dynamics - for example ground vehicles, legged creatures, and moving objects in VR environments. It's fast, flexible & robust. Built-in collision detection.
pyRobbie is a Robot simulation program, written in Python, which enables users to control a (graphical) Robot through a 2D graphical world to solve different problems. The intent is to provide an easy to use framework for constructing programming example