nabled-sim

Cross-crate orchestration for Physical AI workflows in the nabled stack.

nabled-sim composes domain crates (nabled-model, nabled-kinematics, nabled-dynamics, nabled-control, nabled-sensor) and horizontal layers (nabled-ml::stats, optional nabled-linalg::signal) without reimplementing their algorithms. Use it for validated robot context, simulation steps, batch IK, closed-loop control, and estimation pipelines.

Install

[dependencies]
nabled-sim = "0.0.11"

Key modules

1. context: RobotContext — model validation and chain/dynamics extraction.
2. sim: semi-implicit integration calling dynamics FK/FD.
3. manipulation: batch IK and pose-driven workflows.
4. control_loop: closed-loop control wiring.
5. estimation: filter pipelines over sensor models.
6. pipeline: higher-level workflow composition.

Crate graph

• Depends on: all Physical AI domain crates plus nabled-core, nabled-linalg, nabled-ml.
• Used by: facade nabled (physical-ai), pynabled.physical_ai.

Optional features

1. blas, lapack-provider: forwarded across dependent crates.
2. openblas-system, openblas-static, netlib-system, netlib-static, magma-system.
3. signal: enables nabled-linalg/signal for filter/signal paths.

[dependencies]
nabled-sim = { version = "0.0.11", features = ["openblas-system", "signal"] }

Example

use nabled_dynamics::DynamicsConfig;
use nabled_model::fixture::load_planar2r_json;
use nabled_sim::context::RobotContext;

let fixture = load_planar2r_json()?;
let model = fixture.to_robot_model::<f64>()?;
let chain = fixture.to_chain_spec::<f64>()?;
let ctx = RobotContext::new(model, chain, DynamicsConfig::default());
ctx.validate()?;

Docs

1. API docs: https://docs.rs/nabled-sim
2. Orchestrator design: docs/PHYSICAL_AI_ORCHESTRATOR.md
3. Workspace repo: https://github.com/MontOpsInc/nabled
4. Facade feature: nabled with physical-ai