http://www-robotics.jpl.nasa.gov/news/newsStory.cfm?NewsID=69
http://claraty.jpl.nasa.gov/man/overview/index.php

Note :
It was initially believed the software would be released under a Free
Software or Open Source license, however this turned out not to be the case.
The software was released under something called the "CLARAty Open Source
License<http://claraty.jpl.nasa.gov/man/software/license/open_src/index.php>",
which, despite the name, fails to meet either the FSF free software
definition <http://www.gnu.org/philosophy/free-sw.html> or the OSI Open
Source definition <http://www.opensource.org/docs/definition.php>. On the
upside, the software can be downloaded at no cost it's possible to view at
least some of the source code, and use software in non-commercial
applications. Any commercial use or derived works are not allowed, however.
While the closed, proprietary license is disappointing, perhaps having
access to the software will facilitate the development of similar
functionality in free software.

Good Luck Robotic students/Professions

Regards
Reju

-- 
Mob: +91-9961484354
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