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How to prepare and run a robot action in simulation with Lyapunov

Set up a robot in a 3D scene, initialize physics, and run one bounded action with feedback.

Who it is forA robotics developer who needs to check a robot's controls and physical response before writing or testing a control policy.

The problemRobot models can look ready in a viewer while their physics world is not, and whole-body behavior is easy to assume incorrectly.

The outcomeA robot that is prepared, initialized and ready, with one explicitly executed action and inspected world feedback.

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. Install Lyapunov and launch it, then open or create a project in the workbench.
  2. Select the robot and the physics engine, then review the available controls, dependencies, placement and collision geometry.
  3. Prepare the world while it is paused, then initialize physics and confirm the robot is ready.
  4. Run one bounded action with the robot controls, then stop execution and inspect the actual world feedback.

Prompt for your agent

In the ManfredCh/Lyapunov repo, prepare the robot <robot-name> in a paused world using the default MuJoCo engine, initialize physics, and run one bounded joint action. Report the robot's ready state and the actual world feedback after the action. Verify that the robot was initialized before any action was executed.

Caveat. README says importing a robot such as G1 does not automatically stand it up, and a geometric gait command does not establish stable walking, so expect to verify each behavior yourself.

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