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...It has been tested on all Ubuntu version from the last few years and will probably work with most modern linux distributions.
Please see the wiki for installation and examples:
https://sourceforge.net/p/comps/wiki/Home/
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.