PDFStreamDumper 0.9

Work with a PDF analysis toolset to improve document and data security. Scan the compatible PDFs for possible or actual vulnerabilities, corruption, damage, etc. Detect the documents containing malicious attachments or encrypted code activated when opening and viewing them.

This is a free tool for the analysis of malicious PDF documents. It also has some features that can make it useful for pdf vulnerability development.
Has specialized tools for dealing with obsfuscated javascript, low level pdf headers and objects, and shellcode. In terms of shellcode analysis, it has an integrated interface for libemu sctest