This is cool. I've been working on a quadrupedal robot. I wonder if some of these tools would help me visualize and develop gaits for the robot? It looks like they would.
You could also try out pybullet, the official Python bindings for Bullet Physics which uses the same underpinnings as Roboschool: pip install pybullet and you are up and running, quickstart guide is at http://pybullet.org. It has a Minitaur quadruped robot as one of the examples.