An implementation of the framework described in Kinematic Control of Redundant Manipulators: Generalizing the Task-Priority Framework to Inequality Task.
Just run the following command without downloading the repo to install it:
pip3 install git+https://github.com/ddebenedittis/hierarchical_qp.git
from hierarchical_qp import HierarchicalQP
hqp = HierarchicalQP()
A = [...] # list of n_tasts matrices A _of_ size (ne_i, nx)
b = [...] # list of n_tasts vectors b of size (ne_i)
C = [...] # list of n_tasts matrices C of size (ni_i, nx)
d = [...] # list of n_tasts vectors d of size (ne_i)
x_star = hqp(A, b, C, d)If b[i] or d[i] are matrices, they are converted to vectors.
Davide De Benedittis