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I got the answer from another robotics site.

It says:

  I started the Heaphy project at Willow Garage with the goal of spinning it out as a commercial enterprise. At no stage was it open source. I left Willow at the end of March, however. As far as I know, nothing has been done with it since then.

  You might be able to email info@willowgarage.com to get more information on its current status.

  Cheers,
  Tim

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