The first version of robotSim included a simulation of a basic PackBot robot. The simulated robot has since gotten a complete overhaul.
Cogmation has done a lot of work to accurately simulate the PackBot510 with EDO kit. The robot now sports a realistic track-drive system with flippers, multiple cameras and sensors (wide angle camera, pan/tilt camera, laser scanner, etc…), and a fully articulated arm.
Here’s a short video of the robot in action.