" When we pick up a coffee cup, our brains run a simulation first. Ceramic mug or paper cup? Is it piping hot? Is the lid on tight? Robots need to simulate their movements, too. And with our Actin Simulation software, we make easy the hard problem of integrating vision systems, coordinating between multiple robots, performing kinematics and rigid-body dynamics calculations: All in the service of ensuring the system is running in its trimmest and most efficient configuration. The GPU-based particle system simulator allows for complex simulations of granular material in Actin. Simulations like these have the potential to predict the transient soil behavior exhibited under severe vehicle maneuvering in robotics operations, some of which include tire spinning in sand and sinkage caused by large slips. This simulator is tightly integrated with Actin's dynamic simulation system for robotic manipulators and is implemented using NVIDIA's CUDA platform for processing on compatible GPUs.