nabled-model 0.0.11

URDF and DH robot models with chain conversion for nabled Physical AI
Documentation

nabled-model

Robot model representation and ingest for the nabled Physical AI stack.

nabled-model builds serial and tree robot models from URDF, Denavit–Hartenberg parameters, and test fixtures. It converts models to nabled-kinematics::ChainSpec for FK/IK and to branch specs for nabled-dynamics tree algorithms.

Install

[dependencies]
nabled-model = "0.0.11"

Key modules

  1. joint, link, robot: core model types and RobotModel.
  2. origin, tree_model: URDF joint origins and tree kinematics trait impl.
  3. dh: to_chain_spec, extract_chain_spec, dynamics branch extraction.
  4. urdf: parse URDF strings and files into RobotModel.
  5. fixture: JSON fixtures for planar, 6-DOF, and branched test models.

Crate graph

  • Depends on: nabled-core, nabled-linalg, nabled-kinematics.
  • Used by: nabled-dynamics, 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-model = { version = "0.0.11", features = ["openblas-system"] }

Example

use nabled_model::urdf::from_urdf_str;

let model = from_urdf_str::<f64>(include_str!("robot.urdf"))?;
println!("DOF: {}", model.dof());

Docs

  1. API docs: https://docs.rs/nabled-model
  2. Workspace repo: https://github.com/MontOpsInc/nabled
  3. Capability registry: docs/PHYSICAL_AI_CAPABILITY_REGISTRY.md
  4. Python bindings: pynabled.physical_ai (when enabled)