gvcall is a simple utility to make a phone call with Google Voice from the command line. The major feature of this program is to integrate Google Voice and Linphone's command-line mode to make calling a number easy.
You can also add other phone numbers to call with using a simple alias system in ~/.gvcall. For example, say that you sometimes have your mobile phone next to you and want to call a number using that. You could set altnums to be altnums=mobile:5555555555 and then run gvcal -m mobile phonenumber
pygooglevoice provides a configuration file at ~/.gvoice where you can enter your Google username and password if you don't want to be prompted every time you want to make a call.