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OndselSolver at https://github.com/Ondsel-Development/OndselSolver can do redundant constraint removal and handle under constrained systems readily using direct Gauss Elimination on sparse matrices. It is used in FreeCAD and Ondsel ES for Assembly constraints.
Ondsel has developed an LGPL 3D assembly solver at https://github.com/Ondsel-Development/OndselSolver It is being used in FreeCAD and Ondsel ES.