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Ink/Stitch - An Inkscape extension for designing machine embroidery patterns.
Embird - Machine-Independent Embroidery Software
Wilcom TrueSizer - Based on the same core software as Wilcom’s acclaimed professional embroidery design software, .
LinuxCNC (the Enhanced Machine Control) - LinuxCNC: an open source CNC machine controller. It can drive milling machines, lathes, 3d printers, laser cutters, plasma cutters, robot arms, hexapods, and more.
PCStitch - PCStitch is the most popular design tool for creating counted cross-stitch patterns available!
Cstitch - free and open source program for creating cross stitch patterns from images