ManfredCh/Lyapunov

What it solves

Lyapunov provides a unified desktop workspace for robotics developers and 3D researchers to manage the entire lifecycle of a simulation project. It eliminates the friction of switching between separate tools for scene construction, robot preparation, physics simulation, and AI-driven agent control.

How it works

Built on an "everything-is-a-plugin" architecture, the framework integrates a 3D viewer, code editor, and terminal into a single interface. It supports multiple physics engines (such as MuJoCo and Isaac Sim) and allows users to either use a cloud-based agent (Peiri) for orchestration or configure their own local model providers in a guest mode. Users prepare robots and environments by importing standard formats (like GLB, MJCF, or URDF), configuring physics properties, and executing bounded actions within a controlled simulation loop.

Who it’s for

It is designed for robotics engineers, simulation research teams, and 3D creators who need a centralized environment to build, test, and observe robotic behaviors and 3D scenes.

Highlights

• Unified Workspace: Combines chat, file management, 3D visualization, and physics control in one desktop application.
• Multi-Engine Support: Integrates with MuJoCo, Isaac Sim, and Newton for diverse simulation requirements.
• Agent-First Workflow: Uses LLMs to orchestrate scene generation, robot preparation, and simulation tasks via natural language.
• Portable Projects: Supports saving and reopening projects with complete resource closure, ensuring consistency across sessions.