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A Python module for rapid prototyping of constraint-based closed-loop inversekinematics controllers is presented. The module allows for combining multipletasks that are resolved with a quadratic, nonlinear, or model predictiveoptimization-based approach, or a set-based task-priority inverse kinematicsapproach. The optimization-based approaches are described in relation to theset-based task approach, and a novel multidimensional "in tangent cone"function is presented for set-based tasks. A ROS component is provided, and thecontrollers are tested with matching a pose using either transformationmatrices or dual quaternions, trajectory tracking while remaining in a boundedworkspace, maximizing manipulability during a tracking task, tracking an inputmarker's position, and force compliance.

CASCLIK: CasADi-Based Closed-Loop Inverse Kinematics