The Open Stack of Tasks Library: OpenSoT: A Software Dedicated to Hierarchical Whole-Body Control of Robots Subject to Constraints

The Open Stack of Tasks (OpenSoT) library is a state-of-the-art framework for instantaneous whole-body motion planning and control based on quadratic programming optimization. The library is designed to enable users to easily write and solve a variety of complex instantaneous whole-body control problems with minimal input, facilitating the addition of new tasks, constraints, and solvers. OpenSoT is designed to be real-time safe and can be conveniently interfaced with other software components, such as Robotic Operating System or other robotic-oriented frameworks. This article aims to present the use of the OpenSoT library to a large audience of researchers, engineers, and practitioners as well as provide insights into its software design, which has matured over nearly 10 years of development.