VRMLGen is a free software package for 3D data visualisation on the web. It supports VRML and LiveGraphics3D formats. The package runs within the R environment for statistical computing and is available for download from CRAN. It is licensed under the terms of GNU GPL version 2 (or later). VRMLGen can be used to generate 3D line and bar charts, scatter plots with density estimation contour surfaces, visualizations of height maps, parametric functions and 3D object models. See the gallery of examples below.