Expand description
Physical AI orchestration — compose-down only.
Domain algorithms remain in their owner crates; this crate wires validated context, simulation steps, batch IK, closed-loop control, and estimation pipelines.
Modules§
- context
- Validated robot context for serial-chain orchestration.
- control_
loop - Closed-loop LQR + Luenberger observer step (no sensor crate dependency).
- estimation
- EKF pipeline and innovation monitoring (no control crate dependency).
- manipulation
- Batch damped least-squares IK over a time grid.
- pipeline
- Opt-in multi-stage Physical AI pipelines.
- sim
- Semi-implicit rigid-body simulation step.