I like Panda3D for this kind of quick rendering of simple scenes. It has both a C++ and Python API, and provides a lot of useful utility types (animations, simple collision detection, etc) which should make the task of writing your game easier.
The aesthetic appeal of the graphics rendered will largely be a factor of your own art quality; the engine is only displaying what you're giving to it and the feature lists (shaders, scene management, etc) are similar between the various open-source engines. I don't think YouTube videos are a good way to compare.
You should make the decision on what you personally like working with, as the time you spend making a more complex/difficult engine do what you want is likely better spent improving the game.
Kerrek is correct in that none of them are truly easy to use.
