nabled-dynamics 0.0.11

RNEA, CRBA, and forward dynamics (serial + tree) for nabled Physical AI
Documentation

nabled-dynamics

Rigid-body dynamics for the nabled Physical AI stack.

nabled-dynamics implements inverse dynamics (RNEA), composite rigid-body inertia (CRBA), and forward dynamics (ABA and related methods) for serial chains and tree models routed through nabled-model branch specs. Spatial algebra utilities live in spatial.

Install

[dependencies]
nabled-dynamics = "0.0.11"

Key modules

  1. spatial: spatial vectors, transforms, and inertia primitives.
  2. config: DynamicsConfig, ForwardDynamicsMethod.
  3. rnea, crba, fd, id: serial-chain dynamics kernels.
  4. tree: rnea_tree, mass_matrix_tree, forward_dynamics_tree (+ _into variants).

Crate graph

  • Depends on: nabled-core, nabled-linalg, nabled-kinematics, nabled-model.
  • Used by: nabled-sim, facade nabled (physical-ai).

Optional features

  1. blas, lapack-provider: forwarded to nabled-linalg and nabled-kinematics.
  2. openblas-system, openblas-static, netlib-system, netlib-static, magma-system.
[dependencies]
nabled-dynamics = { version = "0.0.11", features = ["openblas-system"] }

Example

use nabled_dynamics::DynamicsConfig;
use nabled_model::fixture::load_planar2r_json;

let fixture = load_planar2r_json()?;
let _model = fixture.to_robot_model::<f64>()?;
let _chain = fixture.to_chain_spec::<f64>()?;
let _config = DynamicsConfig::default();

Docs

  1. API docs: https://docs.rs/nabled-dynamics
  2. Workspace repo: https://github.com/MontOpsInc/nabled
  3. Facade feature: nabled with physical-ai