3d robot simulation software

Hello
I would like to do some research on language acquisition connected with embodiment, and I'm looking for some free 3d robot simulation environment.
After googling a bit I found Gazebo from Player/Stage project (playerstage.sf.net), but it's far from being complete. Features that I need are: - 3D environment - simulatied rigid-body physics - camera as vision sensor - controllable joints with force and flexion sensors - touch sensors (with readable force value) Basically I would like to simulate something similar to Ripley robot (http://www.media.mit.edu/cogmac/projects/ripley.html ). Does anyone know such software?
.s.s.
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From the looks of it, Ripley is a rather sophisticated 7-DOF device, and you might not be able to find any program - especially for free - to deal with something like that. The following site has a free robotic simulator, but prolly won't do what you want ....
http://www.behaviorbasedprogramming.com /
However, you might also look here ....
http://www.sodaplay.com /
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