I am looking to implement a sip endpoint using java.
I came across jain-sip. But, it's not clear whether it's used to implement a sip client or sip endpoint itself.
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You should be able to implement any sip endpoint with jain-sip. It is used in user agents, servers, b2buas, proxies, sbcs and registrars. But if you need something beyond the SIP such as media/RTP then you need additional RTP or relay stack.