ControlIt! is a middleware for instantiating whole body operational space controllers for humanoid robots. It provides tasks, constraints, and model-based sensor abstractions for applications, interfaces for connecting to robot hardware, and a mechanism for binding internal parameters to external sources. ControlIt! is available open source under an LGPLv2.1 license.
Here is a video showing ControlIt! controlling Dreamer, an upper-body humanoid robot made by Meka Robotics. A product disassembly application is shown followed by a demonstration of Cartesian position control of Dreamer's right wrist.
Here is a video showing ControlIt! being used to control the upper body of Valkyrie, NASA's humanoid robot, during rehearsals for the DRC Trails in December of 2013.