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the recent openrave versions (0.7.x) have inverse dynamics which can be used as :

robot.SetDOFValues(dofvalues)
robot.SetDOFVelocities(dofvelocities)
torques = robot.ComputeInverseDynamics(dofaccelerations)

you can also split the contributions

torqueconfiguration, torquecoriolis, torquegravity = robot.ComputeInverseDynamics(dofaccelerations,None,returncomponents=True)

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