riggen 0.1.0__py3-none-win_amd64.whl

riggen/__init__.py

@@ -0,0 +1,19 @@
+"""riggen — the blazingly fast, lightweight robot assembler for RL researchers.
+
+The application is the native ``riggen`` executable this wheel carries
+(ADR-0002): a GPU window for assembling meshes into a kinematic tree, placing
+joints, computing inertials and collision geometry, and exporting MJCF and
+URDF. Run it as ``riggen`` or ``python -m riggen``. This package holds
+nothing else until the v0.2 SDK; see https://github.com/Divelix/riggen.
+"""
+
+from __future__ import annotations
+
+from importlib.metadata import PackageNotFoundError, version
+
+try:
+    __version__ = version("riggen")
+except PackageNotFoundError:  # a checkout on sys.path, not an installed wheel
+    __version__ = "0.0.0+unknown"
+
+REPOSITORY = "https://github.com/Divelix/riggen"

riggen/__main__.py

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+"""``python -m riggen`` — hand over to the bundled ``riggen`` executable.
+
+maturin places the binary in the wheel's ``scripts`` directory, which is the
+environment's ``bin/`` (``Scripts\\`` on Windows), so the ``riggen`` command
+is normally the binary itself. This module is for the cases where that
+directory is not on ``PATH`` — ``python -m riggen`` always works when
+``import riggen`` does. It is the shape of rerun's ``rerun_cli/__main__``
+(ADR-0002).
+"""
+
+from __future__ import annotations
+
+import os
+import subprocess
+import sys
+import sysconfig
+
+
+def binary_path() -> str:
+    """The bundled executable, wherever this interpreter keeps its scripts."""
+    name = "riggen.exe" if sys.platform == "win32" else "riggen"
+    scripts = sysconfig.get_path("scripts")
+    path = os.path.join(scripts, name)
+    if os.path.isfile(path):
+        return path
+    # A user-site install keeps its scripts elsewhere; ask for that layout.
+    scripts_user = sysconfig.get_path("scripts", f"{os.name}_user")
+    path_user = os.path.join(scripts_user, name)
+    if os.path.isfile(path_user):
+        return path_user
+    sys.exit(
+        f"riggen: the bundled executable is missing (looked in {scripts} "
+        f"and {scripts_user}). Reinstall with `pip install --force-reinstall riggen`."
+    )
+
+
+def main() -> None:
+    binary = binary_path()
+    args = [binary, *sys.argv[1:]]
+    if sys.platform == "win32":
+        # Windows has no exec: run it and forward the exit code.
+        sys.exit(subprocess.call(args))
+    os.execv(binary, args)
+
+
+if __name__ == "__main__":
+    main()

riggen-0.1.0.dist-info/METADATA

@@ -0,0 +1,139 @@
+Metadata-Version: 2.4
+Name: riggen
+Version: 0.1.0
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Science/Research
+Classifier: Topic :: Scientific/Engineering
+Classifier: Programming Language :: Rust
+Classifier: Programming Language :: Python :: 3
+Classifier: Operating System :: OS Independent
+License-File: LICENSE-MIT
+License-File: LICENSE-APACHE
+Summary: The blazingly fast, lightweight robot assembler for RL researchers
+Keywords: robotics,mujoco,mjcf,urdf,reinforcement-learning,simulation
+Author: Sergei Sergienko
+License-Expression: MIT OR Apache-2.0
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown; charset=UTF-8; variant=GFM
+Project-URL: Documentation, https://github.com/Divelix/riggen#readme
+Project-URL: Repository, https://github.com/Divelix/riggen
+
+# riggen
+
+[![CI](https://github.com/Divelix/riggen/actions/workflows/ci.yml/badge.svg)](https://github.com/Divelix/riggen/actions/workflows/ci.yml)
+[![PyPI](https://img.shields.io/pypi/v/riggen)](https://pypi.org/project/riggen/)
+
+**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](https://raw.githubusercontent.com/Divelix/riggen/main/docs/assets/arm.png)
+
+## Install
+
+```sh
+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:
+
+   ```sh
+   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:
+
+```sh
+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`](SEED.md) (what and why),
+[`docs/01-architecture.md`](docs/01-architecture.md),
+[`docs/02-data-model.md`](docs/02-data-model.md),
+[`docs/03-roadmap.md`](docs/03-roadmap.md), [`docs/adr/`](docs/adr/) — then
+[`AGENTS.md`](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.
+

riggen-0.1.0.dist-info/RECORD

@@ -0,0 +1,9 @@
+riggen/__init__.py,sha256=5zksh2iLpZWP7bfvdddgdOn91Mr49l5irDU_fh5UkKQ,776
+riggen/__main__.py,sha256=LevV6a2QXwFoMETZAhVyo5bA-_hn342Cc8OncJuV7CA,1630
+riggen-0.1.0.data/scripts/riggen.exe,sha256=36dJeU5pjsTvSolWC0z3WUoB5AaITZNWz6e7v_pzLHs,17468416
+riggen-0.1.0.dist-info/METADATA,sha256=sYK_bJKShh_FJINxP1107rk0cDdOUNkCphUWWuSRfxs,6323
+riggen-0.1.0.dist-info/WHEEL,sha256=8Aej0W0a6Cz6apA3IzJrTnxLRVLAt-w0Oh8SA3Con_c,94
+riggen-0.1.0.dist-info/licenses/LICENSE-APACHE,sha256=Pd-b5cKP4n2tFDpdx27qJSIq0d1ok0oEcGTlbtL6QMU,11560
+riggen-0.1.0.dist-info/licenses/LICENSE-MIT,sha256=XtGpmLw1XrIjYNRIq_30IMUkQdf2xXZNDoeuMD-e8B4,1094
+riggen-0.1.0.dist-info/sboms/riggen-app.cyclonedx.json,sha256=O52R-y39ypnLOABinCocqpOpTMGBmjgtTs_DuGZru0g,273631
+riggen-0.1.0.dist-info/RECORD,,

riggen-0.1.0.dist-info/WHEEL

@@ -0,0 +1,4 @@
+Wheel-Version: 1.0
+Generator: maturin (1.15.0)
+Root-Is-Purelib: false
+Tag: py3-none-win_amd64

riggen-0.1.0.dist-info/licenses/LICENSE-APACHE

@@ -0,0 +1,202 @@
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riggen-0.1.0.dist-info/licenses/LICENSE-MIT

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2026 Sergei Sergienko
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
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+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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+SOFTWARE.