The drawer with Picasso software is Contribution, not Expansion. IIRC there was a copy of CyberGraphics in there, too.
Note that P96 is not strictly limited to Picasso cards as well as Cgx is not limited to Cybervision cards. You should check the respective documentation for a list of suppored RTG cards.
Either one will perfectly install on OS 3.1. (You can install only one at a time.) You can use the install scripts from the OS 3.5 CD or download the installation archives from the internet.
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