I'm working on the development of another robotics simulator, based on Blender. It is called MORSE, and it aims to be a very flexible simulator based on modular components. It provides connectivity to various middlewares, currently YARP, ROS, and sockets.
Current applications using it include multiple mobile robot cooperation and human-robot interaction.
You can find more information in the official homepage:
http://morse.openrobots.org
It is all open source, and we have mailing lists for users. We'd appreciate it if you can give it a try and give us your comments
