ManfredCh / Lyapunov

# Lyapunov
English | 简体中文
 To see a World in a Grain of Sand 
 — William Blake, Auguries of Innocence 
**Linux x64** · **Apache-2.0**
| 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 |
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.
## Alpha8 update · 0.1.0-alpha.8
- Retry world closure after a temporary failure, as described in Issue #1.
- Connect native physics materials and state: MuJoCo flex and physical cables; restricted Newton source-position control, static-container water MPM and native RGB-D cameras; parameters and node or particle readback for existing Isaac USD deformables and PBD particles. Availability follows each engine's supported scope and local runtime requirements.
- Edit native parameters, synchronize and read actual values, then save and reopen portable projects with their native documents and resources.
- Use **Open copy** for a same-name project to create a new scene while preserving the original scene and its resources.
- Scope automatic checkpoints to the selected project directory and allow preparation to be cancelled.
See the full Alpha8 release notes and Alpha8 release and downloads.
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 · Installation guide / 安装手册 · 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.
## Install on Linux
From a regular terminal in your graphical desktop session:
 [code] 
After installation succeeds and reports ready, start Lyapunov separately:
 [code] 
The default installation prepares **MuJoCo and its Python runtime**, ve