3D Solutions

I checked at http://gazebosim.org/ and their 3D graphics for Linux seems bloated in some directions, underdeveloped in others.  I need a simple 3D space and it looks like the best way to tie it to reality is to start with video input so anything built on it will work with live images then move them as needed into an imaginary subset of the real world.  One 3D package I purchased for Smalltalk worked fine with its demo images but was too hard to figure out for general use.  Is there anything as simple as SolidWorks in Smalltalk with a video feed?