- Blender, a very advanced 3D computer animation package. MakeHuman is a plug-in for Blender, to model and move human figures.
- SOLID is a software library for collision detection of geometric objects in 3D space. Other collision detection packages.
- The FastGEO, “is a library that contains a wide range of highly optimized computational geometry algorithms and routines for many different types of geometrical operations such as geometrical primitives and predicates, hull construction, triangulation, clipping, rotations and projections.”
- SciCraft, a data analysis framework, with GUI. Works, for example, with Octave and R.
- GtkDataBox, a GTK library for very fast plotting widgets, such as for oscilloscope data.
- CGAL, the Computational Geometry Algorithms Library.
- Mayavi, and Visualisation Toolkit (VTK), for 3D data visualisation.
- Virtual Object System, a 3D virtual reality infrastructrure software.
- OpenDX, "for the visualization of scientific, engineering and analytical data: Its open system design is built on a standard interface environments. And its sophisticated data model provides users with great flexibility in creating visualizations."
- libQGLViewer, a library to make 3D OpenGL stuff, with already lots of robotics-related functionality, such as keyframes.
- Maverik (Virtual Reality toolkit)
- Coin3D (free software Open Inventor clone).
- GeomView (open source 3D modeller).
- Dune . Dune is a simple 3D modelling and animation tool for the authoring of VRML (Virtual Reality Modelling Language).
- FreeWRL and OpenVRML: VRML viewers.
- Open Scene Graph, a "open source high performance 3D graphics toolkit, used by application developers in fields such as visual simulation, games, virtual reality, scientific visualization and modelling."
- Qilex, a simple robot simulator.