It should perhaps be noted that you don't actually get any VirtuaGirl animations featuring nudity without paying for the software.
It is, however, very easy to get it without paying a premium. Sign up for a three-day trial account, then use a download manager like GetRight to download everything on the site - but you better be on broadband, it's more than two gigabytes of data.
Keep in mind to delete your account once you're done, otherwise your trial account will be turned into a full account, which means you'll be billed insane amounts of money for something you already have.
I agree with eric+ that VirtuaGirl is more of a silly toy that something which one can actually gain sexual pleasure from. But for $3, I think it's worth it.