A Lego Mindstorms 2.0 simulator for Mac OS X, Windows, Android and iOS.
You can download compiled versions at:
http://schuelerlabor.informatik.rwth-aachen.de/simulator
RoboSim is released under GPL version 2 or later. Developed by Torsten Kammer in the Leraning Technologies Research Group (RWTH Aachen University), originally as a Bachelor thesis and further development as a student worker.