it works. now make it interactive and then add obstacle avoidance tasks.
Finally got an interactive demo. Some very interesting effects of the
inverse kinematics prioritized task algorithm proposed by
Baerlocher. For example, if a secondary task starts out with zero
error, the primary task never converges but jitters around
instead. Wondering whether his thesis contains a hint. Would also be
worthwhile investigating whether the same issue exists in the
dynamics-based approach underlying Stanford_WBC.