Physics-accurate assets for
Gazebo
Upload 3D models and get assets with accurate mass, inertia, friction, and collision geometry ready for Gazebo and ROS 2 simulation pipelines.
The problem
Why existing workflows fall short.
SDF/URDF physics is tedious
Gazebo models need accurate inertial properties, collision geometry, and friction parameters. Estimating these manually for each object is error-prone.
Limited model libraries
Gazebo model repositories have limited variety. Custom environments need hundreds of unique objects with realistic physics.
ROS 2 pipeline friction
Getting 3D assets from design tools into a ROS 2 simulation pipeline involves multiple conversion steps and manual physics annotation.
How Rigyd helps
AI-native infrastructure that automates the hard parts.
Automatic inertial estimation
Rigyd estimates mass, center of mass, and inertia tensors using AI-powered material identification and geometry analysis.
Collision mesh generation
Convex decomposition generates collision geometry that balances simulation accuracy with performance — configurable for navigation or manipulation tasks.
OpenUSD interoperability
Rigyd outputs OpenUSD that can be converted to SDF/URDF for Gazebo, maintaining all physics properties across format boundaries.
cost reduction in asset preparation
better real-world performance with physics-accurate training data
from upload to simulation-ready asset
Accelerate your Gazebo simulations
Upload a 3D model and get physics-accurate assets for ROS 2 in minutes.
Starts at $29/month. 30 credits included.
Frequently asked questions
Does Rigyd output SDF and URDF directly?
Rigyd outputs OpenUSD which converts cleanly to SDF and URDF for Gazebo and ROS 2 pipelines. Physics properties — inertia, friction, collision geometry — are preserved across format boundaries without manual re-annotation.
How accurate are the estimated inertial properties?
Mass lands within 15-20% of measured values and friction within 0.1 coefficient — inside the variance range typical domain randomization targets. Accuracy is calibrated against NeRF2Physics (CVPR 2024) benchmarks.
Can I use Rigyd for ROS 2 simulation pipelines?
Yes. Convert 3D models once, export to SDF/URDF, and drop into your Gazebo scene. Enterprise API integrates into CI pipelines so new assets enter simulation as they're added to the catalog.
Does Rigyd output SDF or URDF directly, or only OpenUSD?
OpenUSD is the canonical output; SDF and URDF are available as on-demand conversions from the same source. The advantage: edit physics once in USD, derive Gazebo-compatible SDF/URDF without losing mass, inertia, or collision-mesh data. Output XML is well-formed and passes Gazebo's built-in model validator.
How does Rigyd handle Gazebo contact and friction solver tuning?
Friction coefficients use Gazebo's ODE solver conventions (mu, mu2 for anisotropic surfaces) populated from material identification. Contact softness (kp, kd) defaults to physically plausible values per material class. Override via the Rigyd dashboard if your scenario needs hand-tuned contact (e.g. specific compliance for soft-finger grippers). For projects using the newer DART or Bullet physics backends in Gazebo Garden and beyond, the same friction values translate cleanly — solver-specific tuning parameters can be overridden separately so the same asset works across the Gazebo Classic and Ignition/Gazebo Modern stacks.
Related reading
In-depth guides on robotics simulation, OpenUSD, and SimReady assets.
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