I have posted my VisualPyODE library at
http://www.missioncognition.net/visualpyode/ under the LGPL or BSD
licenses. For those not familiar, VisualPython is a fairly simple yet
capable 3D visualization package for python. I had been using
VisualPython for visualization of my models and found it cumbersome to
have to define every object three times (once each for physics,
collision, and display). So I made a library which automatically
handles all three at once. It is an alpha release that works pretty
reliably but is not yet what I would consider feature-complete.
I have implemented some demos that show the library in action (three of
them are re implementations of the PyODE tutorials). It should work
correctly with either v5.1 or v3.2.9 of VisualPython.