Klamp't: Simulating robots with robust contact between unstructured meshes

Klamp't is an open source, cross-platform software package for modeling, simulating, and planning for complex robots, particularly for manipulation and locomotion tasks.  It has been used in research and teaching in a number of institutions. Its key contribution is a new contact generation method that treats the geometry as having a thin virtual boundary layer around the underlying meshes. Unlike existing methods, it produces contact estimates that are stable with respect to small displacements, which helps avoid jitter or divergence in the simulator caused by oscillatory discontinuities. Its advantages are particularly apparent on non-watertight meshes and can easily simulate interaction with partially-sensed and noisy objects, such as those that emerge from low-cost 3D scanners. (Contact: Hauser)

http://www.klampt.org/