@dkotfis Sure. The framework is called giskard and you can find the various repositories in this github organization: https://github.com/semroco
A good working example of upper-body control that uses the robot Boxy of our group can found here: https://github.com/SemRoCo/giskard_boxy Following the install instructions, you can see the robot in simulation with interactive markers to pull the end-effectors.
I apologize for the sparse documentation. Please do not hesitate to file issues for questions or bugs.