rebelai 0.1.5

Text to physics simulation in one line. Generate MuJoCo models from text prompts.

RebelAI

Text → Physics Simulation in one line.

import rebelai

model = rebelai.generate("kitchen table with coffee mugs")
# That's it. You have a physics-ready MuJoCo model.

The Problem

You want to simulate a robot in a realistic environment. Today that means:

• Manually modeling scenes in Blender (hours)
• Writing collision geometry by hand (tedious)
• Tuning physics properties (trial and error)

The Solution

Describe what you want. Get a MuJoCo model.

import rebelai
import mujoco

# Generate any scene from text
model = rebelai.generate("cluttered office desk with laptop and coffee cup")

# Full MuJoCo API - do whatever you want
data = mujoco.MjData(model)
mujoco.mj_step(model, data)

RebelAI handles:

• World Labs API → Generate 3D scenes from text
• Collision geometry → Automatic convex decomposition
• Physics properties → Mass, friction, contacts
• MJCF generation → Ready for MuJoCo

Install

pip install rebelai

Quick Start

# Set your World Labs API key
export WORLD_LABS_API_KEY="wl_xxx"

import rebelai

# From text prompt
model = rebelai.generate("red sports car on a driveway")

# Or from existing mesh file
model = rebelai.load("scene.glb")

Why RebelAI?

Without RebelAI	With RebelAI
Model scene in Blender	generate("kitchen")
Export, fix mesh issues	Automatic
Write collision geometry	Automatic
Tune mass/friction	Automatic
Debug MJCF XML	Just works

---

Configuration

from rebelai import generate, ConversionConfig, CollisionMethod

config = ConversionConfig(
    collision_method=CollisionMethod.CONVEX_DECOMPOSITION,
    coacd_threshold=0.08,  # Coarser = fewer hulls, faster sim
    density=500.0,         # kg/m³
)

model = generate("wooden desk", config=config)

Collision Methods

Method	Description
CONVEX_DECOMPOSITION	Multiple convex hulls via CoACD (default)
CONVEX_HULL	Single convex hull
BOUNDING_BOX	Axis-aligned box
PRIMITIVES	Fit box/sphere/cylinder

Error Handling

from rebelai import generate, WorldLabsAuthError, WorldLabsAPIError

try:
    model = generate("office chair")
except WorldLabsAuthError:
    print("Check your API key")
except WorldLabsAPIError as e:
    print(f"Generation failed: {e}")

API Reference

rebelai.generate(prompt, api_key=None, config=None, model="Marble 0.1-plus")

Generate scene from text → MuJoCo model

Important: Use model="Marble 0.1-plus" (default) for collision meshes. Marble 0.1-mini does not generate physics-ready meshes.

rebelai.load(source, config=None)

Load mesh file → MuJoCo model

rebelai.to_mjcf(source, config=None)

Convert mesh → MJCF XML string

License

MIT