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NIMBLE (Non-parametrIc jeans Modeling with B-spLinEs) inferrs the cumulative mass distribution of a gravitating system from full 6D phase space coordinates of its tracers via spherical Jeans modeling. It models the Milky Way's dark matter halo using Gaia and Dark Energy Spectroscopic Instrument Milky Way Survey (DESI MWS) data. NIMBLE includes a basic inverse modeling Jeans routine that assumes perfect and complete data is available and a more complex forward modeling Jeans routine that deconvolves observational effects (uncertainties and limited survey volume) characteristic of Gaia and the DESI-MWS. It also includes tools for generating simple equilibrium model galaxies using Agama (ascl:1805.008) and imposing mock Gaia+DESI errors on 6D phase space input data.