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KnowRob in itself does not include any simulation. There is a visualization plugin (an old one written in Java and a more recent one using ROS visualization markers), but that does not include any physics. There are projects that use a physical simulator (i.e. Gazebo) for simulating the effects of e.g. egg cracking or liquid pouring actions, though I'm not sure how much of them are open source.
CRAM makes use of a Bullet world for representing the environment and for projecting the shorter-term effects of actions.
Output of a real robot or a simulated robot in any ROS-enabled simulator can be recorded and reasoned upon within KnowRob using the tools developed in the context of the openEASE project (open-ease.org).
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