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How to build a collision-ready 3D scene from a GLB file with Lyapunov

Import a GLB environment, align it, add collision geometry and confirm the physical response.

Who it is forA 3D creator or simulation developer who has a GLB environment and needs it to behave physically in a robot simulation.

The problemA visual asset does not give a robot anything to collide with, and imported scale or orientation can be wrong.

The outcomeA saved scene with aligned visual assets and matching static collision geometry that reopens with the same physical response.

What you need first

  • Linux x64 machine with a regular graphical desktop session (X11 is the verified keyboard path)
  • Terminal access and internet access to run the published installer
  • Optional: Isaac Sim or Newton installed separately if you want those engines
  • Optional: a Peiri account with Credits, or your own model provider credentials, only if you want agent-driven work

Steps

  1. Import the GLB file into the Scene from the workbench.
  2. Inspect the imported asset's scale, axes and orientation, and correct them if needed.
  3. Prepare static environment collision geometry that matches the room or layout, then apply it to the current world.
  4. Save the scene, reopen it, and check the actual world response after the edits.

Prompt for your agent

In the ManfredCh/Lyapunov repo, import the GLB file <path-to-glb> into a new scene, prepare static collision geometry aligned with it, and apply it to the current world. Report the scale and orientation checks and the saved scene name. Verify the physical result by checking the world response after reopening the scene.

Caveat. README says a visual Gaussian scene needs separately aligned physical geometry for contact, and finite surface thickness can affect narrow openings, so a visually correct scene may still behave wrongly.

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