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The Constrained Manipulation Planning Suite (CoMPS) consists of three openrave plugins and associated data files. The planning and inversekinematics algorithms in this suite are designed for articulated robots like robotic arms and humanoids.
CoMPS is implemented in C++ and compiles in linux only. There are also several examples in python and matlab that show how to interface with openrave to use the plugins in CoMPS. It has been tested on all Ubuntu version from the last few years...
Moved to https://github.com/rdiankov/openrave
An open-source, cross-platform, plugin-based robot planning environment for autonomous robotics. Includes services like collision detection, physics, (inverse) kinematics, sensors, robot controls, python bindings, and a network scripting environment.
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joXSI is a .XSI 3D model file importer for Java. The goal is to have joXSI support everything in the .XSI file format, including inversekinematics and skinned animation. joXSI is used in Wurm, which is a community-centric fantasy Java MMORPG.
Java library for open kinematic chains analysis. Inverse and direct kinematics and dynamics, various control strategies, trajectory planner ... pure java implementation that does not depent on non-java 3rd party libraries