I am sorry. I should have been a bit more clear. I work on Industrial Robots used in manufacturing industries. Off-line programming (OLP) is a robot programming method where the robot program is created independent from the actual robot cell. The robot program is then uploaded to the real robot for execution. (Thanks to Wikipedia). Right now I am advised to use Siemens PLM, where both simulation and OLP available. I need to perform it using Open Source. Currently the software I use help me to perform simulation, but want to bring in OLP, which I am unable to get one.