The most hands-on museum experience in SF (anywhere?!), the Exploratorium offers a great visit for everyone. For children and the scientifically curious, the museum is a must-see! More than one family has been saved by this rainy day adventure :)
Museum tickets can be ordered through the website, and almost always at the door. The tactile dome requires separate tickets, call the number below to order them - it does sell out regularly.
The Exploratorium also publishes a (free!) iPad app ("Color Uncovered") - an excellent example of their approach overall.
Crissy Field is across the street, and the Golden Gate Bridge is a beautiful 2 mile walk along the bay.
Address: 3301 Lyon St, SF, CA
Website: http://www.museumtix.com/venue/venueinfo.asp?tab=E&evw=0&vid=769&pvt=exp
Wikipedia: http://en.wikipedia.org/wiki/Exploratorium