Panda3D is breddy gud.
>import a thing and do run() to get a window going
>getting a model on screen is just loader.loadModel("model.egg").reparentTo(render)
>can make stuff in blender and export directly to egg
>defaults to a fixed function pipeline, enable shader pipeline with a single call
>attaching shaders to objects is easy, engine automagically provides certain inputs
>has a few physics engines supported and integrated (bullet, ODE, their own), use by just making a world for then, assemble shapes into a body, add body to world, attach nodepath to scene graph, shit justwerks
>has some simple AI stuff built in
>has support for a few UI libraries
It's pretty comfy and easy to play with. Scroll through the list of topics here https://www.panda3d.org/manual/index.php/Main_Page to get a quick impression of what it can do.