riggen

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The blazingly fast, lightweight robot assembler for RL researchers. Drop meshes in, get a simulation-ready MJCF or URDF out.

The sample arm in riggen: the link tree, the viewport with joint glyphs, the Joints window

Install

uv tool install riggen      # or: uvx riggen  /  pip install riggen
riggen --example arm        # the bundled sample robot

One wheel per platform (Linux x86_64 / aarch64, macOS arm64 / x86_64, Windows x86_64), Python 3.10 or later, nothing else to install — the riggen command is a native executable, and there is no Rust toolchain on this path. On a platform without a wheel, pip install builds it from source with cargo on PATH.

The first minute

  1. riggen --example arm opens a four-part arm: link tree on the left, the viewport in the middle, Properties on the right. Orbit with the middle mouse button, zoom with the wheel, Home to frame everything.

  2. Drag the sliders in Window › Joints — the arm moves; that is the kinematic tree you will build for your own robot.

  3. File › Export…, pick MJCF, choose a directory. The dialog lists anything that would stop the export (a link with no mass, a joint with no axis) and writes arm.xml beside meshes/*.stl when there is nothing.

  4. Load it:

    python -c "import mujoco; m = mujoco.MjModel.from_xml_path('out/arm.xml'); print(m.nbody, 'bodies')"

    or python -m mujoco.viewer --mjcf out/arm.xml.

Then your robot: riggen base.stl upper.stl fore.stl drops each mesh as a link under the root (meters or millimetres — the import units are in the status bar). Reparent by dragging rows in the tree; Place joint puts a revolute joint on a bore by clicking its edge; Align snaps a part's bore concentric with its parent's; Properties computes the inertial from the mesh and a material, and fits a hull or primitives for collision.

What it does

  • Assembles: STL and OBJ meshes into a kinematic tree — fixed, revolute and prismatic joints, placed by clicking geometry, with limits.
  • Computes: mass, centre of mass and the inertia tensor from the mesh and a material density, or from a spec you type; convex hulls and fitted boxes / cylinders / spheres for collision.
  • Exports: MJCF and URDF from the same document, meshes baked to meters as STL, so MuJoCo loads it with zero warnings and its forward kinematics agree with riggen's (that is a CI job, not a hope).
  • Imports: an existing URDF, package:// paths resolved beside the file, to fix and convert it.
  • Stays out of the way: a native window through wgpu, a document that is plain JSON (.riggen), undo for everything, and a headless CLI.

Command line

usage:
  riggen [FILE...]        open a .riggen document, or drop meshes (.stl, .obj) as links
  riggen --example arm    open the bundled sample arm
  riggen --export mjcf|urdf|both --out DIR [--fk-samples] INPUT
                          write INPUT's export to DIR without opening a window

options:
  --example NAME          open a bundled example: arm (the five-link sample robot)
  --export FORMAT         headless export of INPUT (.riggen or .urdf): mjcf, urdf or both
  --out DIR               where --export writes; created if missing
  --fk-samples            with --export: also write <name>.fk.json, five sampled joint configurations
  --timing                print the time from launch to the first frame on stderr
  -h, --help              print this help
  -V, --version           print the version and the git commit it was built from

riggen --export needs no display, so it runs in CI and in scripts: give it a .riggen or a .urdf and it writes the model, the meshes and, with --fk-samples, five joint configurations with every body's world pose — the file python/tests/test_mjcf_load.py checks MuJoCo against.

python -m riggen is the same executable, for an environment whose bin/ is not on PATH.

Developing

Rust stable, then:

git clone https://github.com/Divelix/riggen && cd riggen
git config core.hooksPath .githooks   # fmt, clippy -D warnings, test before every commit
cargo run                             # the app
cargo test --workspace                # incl. the visual snapshot suite (needs a Vulkan driver;
                                      # lavapipe / mesa-vulkan-drivers is the reference)
RIGGEN_GIT_HASH=$(git rev-parse --short HEAD) uv build   # the wheel and the sdist

The Rust route to the binary is cargo install --git https://github.com/Divelix/riggen riggen-app; publishing the workspace to crates.io so that cargo install riggen works is a later release.

Read, in order: SEED.md (what and why), docs/01-architecture.md, docs/02-data-model.md, docs/03-roadmap.md, docs/adr/ — then AGENTS.md for the rules, agent or human. A Python SDK (riggen-py, the same core through PyO3) is v0.2.

Licence

MIT or Apache-2.0, at your option.

Project links

Data verified by PyPI on Aug 29, 2026
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  • Released:
Newer release available (0.2.0)

1 maintainer

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Avatar for Divelix from gravatar.com Divelix

Credits

Author: Sergei Sergienko

GitHub Statistics

Data verified by PyPI on Aug 29, 2026
The GitHub source repository was provided by the project maintainers and verified by PyPI at the time of upload. Stars, forks, and open issues/PRs are derived from that repository and have not been independently verified.

License expression

MIT OR Apache-2.0
View SPDX License List

Requires

Python >=3.10

Tags

robotics mujoco mjcf urdf reinforcement-learning simulation

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