| BASE | Simulation independent utilities |
| CIBASE | Base classes and interface definitions that are same for robot and simulation |
| GUIBASE | Simulation independent GUI elements and utilities |
| PHYSICS | Interface and general utilities/components for the physics engine |
| PHYSICSODE | Implementation of the PHYSICS interfaces using ODE |
| SIMBASE | Basic elements and components of the simulator |
| SIMCONTROLLERS | Collection of simulated controllers |
| SIMGUI | Simulator specific GUI elements |
| SIMULATOR | Contains simulation specific classes |
| STDCONTROLLERS | Collection of standard controllers |
| STDPERIPHERIES | Collection of standard peripheries |
| VIEW3D | Interfaces and utilities for 3D visualization |
| VIEW3DOGL | Implementation of the VIEW3D interfaces using OpenGL diretcly |
