CavePainting
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CavePainting is a relatively simple but powerful program for authoring 3D content in a virtual reality system. As opposed to more traditional CAD or animation style 3D modeling programs, CavePainting is easy to learn and is focused on exploring a style of computer graphics driven by hand-based input, like drawing or painting.
CavePainting is used extensively by the CS137 class, Virtual Reality Design for Science.
A number of guides for using Cavepainting are available here: