Hi! We are in great need of an affordable off-the-shelf Windows or Linux software package that can be easily configured to perform inverse kinematics control of a new 7 DOF (degrees of freedom) arm we have developed. Although we are still in the starving development stage with this, we hope to be able to introduce our arm commercially, in which case non-commercial-use software will not help us here. Very simply, we want to be able to direct the arm by merely directing the gripper point and therefore have the motions required by the various joints worked out by the IK (inverse kinematics) software. An added bonus would be to be able to describe various corridor of motion constraints on where the arm can physically operate for a specific task and have the software work out the necessary joint movements in such a way as to not violate those corridor of motion constraints. On certainly our basic IK need, and perhaps our "bonus" need as well - can you help direct us?