RTC:Stage is an RT-Component for the OpenRTM-aist middleware. It provides access to a simulated world being run by the Stage simulator. All models in the world can be controlled and their data utilised by other components. The models that can be accessed outside of the component can be filtered to provide a smaller, more manageable component when using large simulations. Additional model proxies can be created and added to the component through a simple plugin system.
Download it from the download page. Installation instructions can be found in the manual.pdf file contained in the source archive.