Over the years I have developed and contributed to several software packages and web services:
OMPL is a lightweight, thread-safe, easy to use, and extensible library for sampling-based motion planning. The code is written in C++, includes Python bindings and is released under the BSD license. OMPL is also integrated with ROS. On top of the OMPL library, we have developed OMPL.app: a GUI for rigid body motion planning that allows users to load a variety of mesh formats that define a robot and its environment, define start and goal states, and play around with different planners. This is joint work with Ioan Sucan, Ryan Luna, Matt Maly, and many others.
A web server for matching 3D structural motifs in proteins against the proteins in the Protein Data Bank. With a plugin for Chimera the match results can be visualized. This is joint work with Drew Bryant.
FASST Live is a web server for identifying clusters of proteins that share local structural similarity. This is mainly the work of Drew Bryant.
I maintain a number of scientific software ports for MacPorts, an Open Source package manager for OS X.