{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/a-ros2-based-software-library-for-inverse","title":"A ROS2-based software library for inverse dynamics computation","arxiv_id":"2504.06106","date":"2025-04-08","proceeding":null,"authors":["Vincenzo Petrone","Enrico Ferrentino","Pasquale Chiacchio"],"abstract":"Inverse dynamics computation is a critical component in robot control, planning and simulation, enabling the calculation of joint torques required to achieve a desired motion. This paper presents a ROS2-based software library designed to solve the inverse dynamics problem for robotic systems. The library is built around an abstract class with three concrete implementations: one for simulated robots and two for real UR10 and Franka robots. This contribution aims to provide a flexible, extensible, robot-agnostic solution to inverse dynamics, suitable for both simulation and real-world scenarios involving planning and control applications. The related software is available at https://github.com/unisa-acg/inverse-dynamics-solver/tree/rap.","url_abs":"https://arxiv.org/abs/2504.06106v2","url_pdf":"https://arxiv.org/pdf/2504.06106v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"a-ros2-based-software-library-for-inverse","repo_url":"https://github.com/ros2-gbp/ros2-gbp-github-org","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null},{"paper_slug":"a-ros2-based-software-library-for-inverse","repo_url":"https://github.com/unisa-acg/inverse-dynamics-solver","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}