diff --git a/examples/inverse-dynamics.cpp b/examples/inverse-dynamics.cpp
new file mode 100644
index 0000000000..bc1f9f2e85
--- /dev/null
+++ b/examples/inverse-dynamics.cpp
@@ -0,0 +1,42 @@
+#include <iostream>
+
+#include "pinocchio/algorithm/joint-configuration.hpp"
+#include "pinocchio/algorithm/rnea.hpp"
+#include "pinocchio/parsers/urdf.hpp"
+
+// PINOCCHIO_MODEL_DIR is defined by the CMake but you can define your own
+// directory here.
+#ifndef PINOCCHIO_MODEL_DIR
+#define PINOCCHIO_MODEL_DIR "path_to_the_model_dir"
+#endif
+
+int main(int argc, char** argv) {
+  using namespace pinocchio;
+
+  // Change to your own URDF file here, or pass it as a command-line argument
+  const std::string urdf_filename =
+      (argc <= 1)
+          ? PINOCCHIO_MODEL_DIR + std::string(
+                                      "/example-robot-data/robots/"
+                                      "ur_description/urdf/ur5_robot.urdf")
+          : argv[1];
+
+  // Load the URDF model
+  Model model;
+  pinocchio::urdf::buildModel(urdf_filename, model);
+
+  // Build a data frame associated with the model
+  Data data(model);
+
+  // Sample a random joint configuration, joint velocities and accelerations
+  Eigen::VectorXd q = randomConfiguration(model);       // in rad for the UR5
+  Eigen::VectorXd v = Eigen::VectorXd::Zero(model.nv);  // in rad/s for the UR5
+  Eigen::VectorXd a = Eigen::VectorXd::Zero(model.nv);  // in rad/s² for the UR5
+
+  // Computes the inverse dynamics (RNEA) for all the joints of the robot
+  Eigen::VectorXd tau = pinocchio::rnea(model, data, q, v, a);
+
+  // Print out to the vector of joint torques (in Nm)
+  std::cout << "Joint torques: " << data.tau.transpose() << std::endl;
+  return 0;
+}