ManfredCh/Lyapunov

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Publication metadata	Value
Author team	Mingjun Cheng; Zongjian Ding; Yudong Gao; Yi Yang; Lidong Chen; Jiale Liu; Xinling Yu
Produced by	Vorynel Co., Ltd. (杭州奇异宇宙人工智能有限公司)
Sponsored by	UAD（浙江大学建筑设计研究院有限公司）
Copyright	© 2026 Vorynel Co., Ltd.
Project license	Apache License 2.0 · Retained notices
Source repository	ManfredCh/Lyapunov

Task	Workspace tools
Build a scene	Import GLB, supported Gaussian representations and native robot documents; use the conversion/preview routes below for other inputs. Select, transform, save and reopen Scene entities.
Work with code	Browse and edit files, search, inspect Git changes, and use the terminal alongside the agent.
Prepare simulation	Review the selected engine, robot controls, model dependencies, placement, and collision geometry before initialization.
Control a robot	Execute supported joint, gripper, vehicle, lift, gait, or body-wrench controls; stop execution and inspect actual world feedback.
Observe and collect	Use scene cameras, named engine cameras, RGB-D capture, calibration, annotations, recording, and dataset export where the selected engine supports them.
Add external tools	Configure Blender, optional physics engines, policy runtimes, reconstruction, or generation tools as needed. Their own software, models, licenses, and service access still apply.

Route	Input	Handling and limits
Direct scene mesh	.glb	Register a mesh with its buffer/texture closure; verify physics separately.
Acquire/assemble to GLB	.gltf + .bin + textures	Local import acquires and assembles a self-contained GLB, then mounts it. The raw Scene parser does not directly read .gltf; workspace preview is also available.
Native robot document	.xml / .mjcf	A valid robot/MuJoCo document with include, mesh and texture closure; engine and control readiness remain separate.
Native robot document	.urdf	Register the description and dependencies; verify visual, engine and actuator compatibility.
Gaussian scene representation	.ply with Gaussian properties	Gaussian/splat input identified by header/properties; it does not provide collision automatically.
Preview/explicit conversion	.ply mesh or XYZ data	Content-specific workspace handling; no general ordinary-PLY mesh/XYZ direct-import promise.
Scene splat input with decoder conditions	.spz / .splat / .sog / .rad / .ksplat	Register a splat representation; content checks and an appropriate decoder still apply.
Blender conversion	.obj + .mtl/textures	Keep source/material dependencies, convert to GLB, then mount. File preview does not prove physics compatibility.
Blender conversion	.fbx	Validate actual source/header and textures, convert to GLB; report missing materials.
Source project/Blender conversion	.blend	Preserve the project; inspect external textures/linked libraries and export GLB.
Source/conversion or conditional native engine	.usd / .usda / .usdc	Source registration and Blender conversion/preview; native Isaac use requires its SDK/SBL and actual native support.
File preview/Blender conversion	.usdz	Workspace conversion preview/export; outside the direct Scene source-registration list.
File preview/convert before Scene use	.stl / .dae / .3mf / .vtk	Workspace preview; STL may also be a robot dependency, which does not make all standalone formats direct Scene inputs.
Export from authoring application	.max	Export FBX with materials or GLB from 3ds Max; renaming the extension is not conversion.
Environment lighting source	.hdr / .exr	Use through the environment/lighting path, not as ordinary body geometry.
Reference image/attachment	PNG / JPEG and other images	Reference for inspection/reconstruction; separate measured dimensions from inferred content.
Drawing inspection/external conversion	.dxf / .dwg / .pdf	DXF parsing; DWG needs an explicit converter; vector/scanned PDF paths differ. A drawing without scale is not a measured model.
Policy bundle preparation/matching	.pt / .pth / .jit / .torchscript / .onnx / .safetensors / bundle.json	Unknown weights receive format preflight only, not a verified execution graph. Require dependency/adapter, joint, observation, rate and engine matching before explicit execution.
Project open/portable package	scene.json / .scene-package.json / portable project directory	Use the project contract and complete resource closure; arbitrary ZIP files are not guaranteed projects.

Workflow	Start with	Check before calling it complete
Ground and box in MuJoCo	Static ground, dynamic box, ready managed SDK	Actual engine/world/revision, bounded steps and real position/contact readback.
Panda joint/TCP inspection	Native model and complete dependencies	Controlled joint/limit/state, stop confirmation and actual TCP information; an IK plan and execution are separate.
Camera and annotation capture	Synced scene, supported camera and renderer	Same-frame RGB-D/K/depth identity, editable saved annotation and real export references.
Indoor collision alignment	Indoor visual asset and aligned static geometry	Actual wall contact and empty-space control, voxel pitch/budget and scene-specific clearance.

ManfredCh/Lyapunov

Lyapunov

Release channels

Install on Linux

Desktop input compatibility

First run

Work in one place

Robots and cameras

Build environments and objects

Environment methods

Object methods

Input formats and routes

Robot sources, compatibility and bounded control

Cameras, annotations and editable feedback

Four starting workflows

Physics engines and optional runtimes

Update and troubleshoot

TODO

Windows evaluation route

Built on an upstream ecosystem

Help improve Lyapunov

Develop and contribute

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