rigyd-mujoco

Python SDK for Rigyd that converts any 3D model, text prompt, or image into a physics-enabled MuJoCo (MJCF) asset and loads it straight into MuJoCo as a mujoco.MjModel.

Rigyd emits a complete MJCF package — .xml + per-material visual STLs + CoACD collision hulls + textures, with inertials, friction, a free joint and a ground plane — so this SDK is a thin API client + loader, not a converter.

Note: MuJoCo has no asset-import plugin hook (engine plugins only add actuators/sensors/forces/SDF), so the idiomatic integration is this SDK, not a compiled plugin.

Install

pip install rigyd-mujoco        # or, from a clone:  pip install -e .
export RIGYD_API_KEY=rgyd_live_xxx

Use

import rigyd
rigyd.configure()                                  # reads RIGYD_API_KEY

# one call: convert + wait + return a loaded model
model = rigyd.load_model(prompt="a wooden dining chair")     # text  (2 credits)
model = rigyd.load_model(images=["front.png"])               # image (3 credits)
model = rigyd.load_model(file="chair.glb",
                         target_triangle_count=50_000)        # 3D file (1 credit)

# lower level
job = rigyd.convert(prompt="a wooden dining chair")
job.wait(on_progress=lambda j: print(j.status, j.stage, j.progress))
xml = job.download(fmt="mjcf")                     # path to the .xml package
model = rigyd.load_model(...) ; print(rigyd.account())   # user + credit balance

Run it:

python examples/quickstart.py "a wooden dining chair"   # opens the MuJoCo viewer

How it works

Submits to api.rigyd.com, polls the job to completion, downloads the format=mjcf result ZIP, extracts it (preserving the meshes/ + textures/ layout MuJoCo expects), and returns mujoco.MjModel.from_xml_path(...).

Layout

rigyd/
  __init__.py   # configure / convert / generate / load_model / account
  client.py     # stdlib urllib client for the Rigyd API
  job.py        # Job: status, wait(), download(), load()
  cache.py      # result-ZIP extraction + local cache
  errors.py     # RigydError
examples/quickstart.py
scripts/smoke_test.py

License

MIT — see LICENSE.