A library for inverse dynamics computation - where to contribute?

I may suggest considering an alternative to the ros2_control kinematics_interface (GitHub - ros-controls/kinematics_interface) … but one that offers the dynamics portion as you’ve described?

The idea being that you can create plugins that can be used in real-time controllers that use a robot’s dynamics in their control laws.

However, I will always promote Pinocchio over KDL :slight_smile:

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