@k-okada Regarding improving KDL kinematics for trees, are you aware of this extension of KDL from Leuven? https://github.com/eaertbel/expressiongraph I have been using this library on our robots, and found it pretty useful. --- [Visit Topic](https://discourse.ros.org/t/jsks-use-of-humanoids/2107/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: