MDSF is a generic manipulator development and simulation facility developed by Spar Aerospace Limited, as a prime contractor to the Canadian Space Agency. It is an integral part of Canada's contribution to the International Space Station (ISS) program. MDSF is capable of simulating general robotic systems with complex and flexible structures undergoing all kinds of tasks including payload hand-over and contact with the environment. Rigorous validation and configuration control have been imposed throughout the development course of the simulation facility. Examples of current applications in the ISS program are included.