Hi everyone, I am releasing the Constrained Manipulation Planning
Suite (CoMPS), which consists of three openrave plugins and associated
data files. CoMPS includes an implementation of the Constrained
Bi-directional RRT (CBiRRT), an iterative IK solver, and a set of
useful openrave functions for manipulation. The planning and inverse
kinematics algorithms in this suite are designed for articulated
robots like robotic arms and humanoids. The algorithms in CoMPS allow
robots to perform motion with a variety of simultaneous constraints
including constraints on balance, closed-chain kinematics, and
task-space constraints defined as Task Space Region (TSRs) and TSR
Chains.

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 Ubuntu
10.04 and will probably work with most modern linux distributions.
CoMPS is released under the BSD license.

For more information, including installation instructions, please see
this page: http://www.cs.cmu.edu/~dberenso/software.html

Thank you!

Dmitry Berenson
PhD Candidate
Robotics Institute
Carnegie Mellon University
http://www.cs.cmu.edu/~dberenso