Lyapunov
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Linux x64 · macOS Apple Silicon · Windows/WSL2 · Apache-2.0
We thank UAD — The Architectural Design & Research Institute of Zhejiang University Co., Ltd. (浙江大学建筑设计研究院有限公司) for the support that made the development of Lyapunov possible.
Lyapunov is an LLM-first, 3D-native robotics and agent desktop framework, produced by Vorynel Co., Ltd. (杭州奇异宇宙人工智能有限公司). For robotics developers, simulation/research teams and 3D creators, it brings scene construction, robot preparation, controlled simulation and camera data into one workspace. Chat, code, files, the 3D viewer, and physics share one desktop workspace.
Lyapunov builds on DSH's “everything-is-a-plugin” architecture and uses Cordis's composition mechanism to integrate tools and capabilities. We thank the authors and contributors of DSH and Cordis; the Cordis design is described in A Programming Paradigm for Spatiotemporal Composability.
Linux installation: The installation page and its release manifest are the authority for release identifiers, downloads, and system requirements. This repository contains the product source; the release notes describe product changes and their verified scope.
Install · First run · Robots and cameras · Full manual / 完整操作手册 · Installation guide / 历史安装指南 · Release notes / 发布说明
Recommended workflow: ask the agent to use native product tools, or use workbench controls for scene, robot and simulation operations.
Release channels
- Current release — 0.2.4.2: Linux x64, Windows/WSL2 and macOS Apple Silicon. This update fixes joint-range checks and improves Chinese joint-action prompts.
- Previous release — 0.2.3: first Apple Silicon release, with crowd, exit/recovery and platform compatibility updates.
- 0.2.2: historical release with people/crowds, first-class USD/SimReady assets and NVIDIA rendering.
- People and crowds: 12 bundled Rocketbox characters, a default 20-person crowd in four appearances, routes with obstacle stops and optional fixed-plane navigation.
- Two ways to control them: the new Crowd panel on the right tool rail (start/stop per group or everyone, back-and-forth / square-loop / stand presets) and natural-language requests to the agent.
- USD and SimReady: USD files are first-class assets with layers, materials and physics preserved; pinned SimReady packages import with license and file verification through the Hugging Face mirror.
- NVIDIA on Linux:
./lyapunov desktop --nvidia-rendering, and optional CUDA human motion via install-provider mujoco --human-cuda.
- Previous release — 0.2.1: retained with its version directory, tag, release notes and assets.
- Previous preview — 0.2.0 Alpha 1: retained with its version directory, tag, release notes and assets.
- Previous RC — 0.1.0 RC: retained with its version directory, tag, release notes and assets.
Use the versioned release identifier with --version to install a previous release explicitly.
Install on Linux
From a regular terminal in your graphical desktop session. On Linux and WSL2, the default command installs 0.2.4.2.
curl -fsSL https://vorynel.com/lyapunov/install.sh | sh
Direct downloads
After installation succeeds and reports ready, start Lyapunov separately:
"$HOME/.local/bin/lyapunov"
The default installation prepares MuJoCo and its Python runtime, verifies native physics, and creates a per-user launcher and desktop entry. You can optionally install Isaac Sim or Newton as needed; they are not prepared by the default installation. See Physics engines and optional runtimes. For an existing Isaac installation, see Installing and selecting Isaac. Node.js, Electron, and the pinned DSH runtime are included in the main archive; the default installation downloads MuJoCo and Python into a dedicated environment inside that version. The default installer and packaged launcher do not depend on Node, DSH, or Python from PATH, or on a developer’s source checkout. User sessions and credentials use the product data directory across upgrades. You do not need a system Node.js, DSH, Python, pip, Conda, Bun, or a model key to install it.
This is the beginning of the README. Read the rest at the original. Read the full README ↗
