Live simulation projects

Add crates, ramps, and other fixed objects to a simulated Go2 or G1 environment. Edit files on your computer and see accepted changes in the same browser viewer. You can use your editor or a coding assistant.

You need a running Go2 or G1 simulator with live-project support. For a new simulator, follow the steps below. For an existing one, wendy vm robot update my-go2 installs the current runtime and resets its world; create a separate VM if you need to preserve the existing scene.

Connect a folder once

wendy vm create my-go2 --profile go2 --yes
wendy vm robot start my-go2
wendy vm robot project init ./my-environment --vm my-go2
wendy vm robot project watch ./my-environment

Leave the watcher running. In another terminal, open the viewer with wendy vm robot open my-go2. Edit scene.json in the new folder; valid changes appear in the viewer and pause the simulation. Resume it in the browser.

For G1, create with --profile g1. To use your own existing folder, or a copy of Examples/LiveSimulationEnvironment, use project link instead of project init:

wendy vm robot project link ./my-environment --vm my-go2
wendy vm robot project sync ./my-environment
wendy vm robot project watch ./my-environment

init requires a new folder; link requires an existing scene. Both require an explicit, running Go2/G1 VM with the matching runtime. They write local binding metadata in .wendy-simulation.json. Keep this file local and ignore it in Git; share scene.json and assets/ instead. No command falls back to a default device, boots a stopped VM, updates its runtime, or deploys to physical hardware.

link records the binding; sync or watch applies it. Watch runs in the foreground. Ctrl+C disconnects the watcher without stopping the VM. An update already sent may finish; the last accepted scene stays loaded. Run watch again to reconnect. A VM accepts one project identity at a time. To switch folders, stop the old watcher, explicitly restart the managed runtime with wendy vm robot restart my-go2, and link/watch the new folder.

What you can change

Add fixed collision or visual geometry to the managed room. The robot, its controller, sensors, room boundaries, and built-in movable obstacle remain managed by Wendy. Other robot models, dynamic objects, textures, and imported physics models are not supported.

Scene format reference

{
  "version": 1,
  "profile": "go2",
  "geoms": [
    {
      "name": "crate",
      "type": "box",
      "size": [0.4, 0.5, 0.4],
      "position": [3, -2, 0.4],
      "quaternion": [1, 0, 0, 0],
      "rgba": [0.3, 0.6, 0.8, 1]
    }
  ]
}

Coordinates are metres, Z up. Quaternion order is wxyz, must be unit length, and defaults to [1,0,0,0]. RGBA defaults to [0.6,0.7,0.8,1]; components are between zero and one with positive alpha. Unique names start with a letter and contain at most 48 letters, digits, or underscores. All numbers must be finite. Only the fields shown above, and mesh for mesh geoms, are supported.

Sizes/scales are positive and at most 4. Position components are bounded by 20m. Keep surfaces inside the managed room (walls at ±6m). The compiled bounding sphere of each added surface must stay outside a 1.2m horizontal spawn clearance around the robot. This conservative rule also applies to rotated meshes and ramps. Meshes use MuJoCo's convex collision representation; concave structures should be assembled from separate convex surfaces. The browser displays compiled mesh geometry.

Only UTF-8 OBJ v x y z and triangular f a b c records are accepted, plus comments. Face indices must be positive and refer to already declared vertices. No mtllib, texture coordinates, normals, external files, or executable plugins are loaded. Each mesh supports at most 4096 vertices and 8192 triangles; vertex coordinates are bounded by ±4m before scaling. Use a closed, three-dimensional mesh.

Limits: 64 added surfaces, eight referenced assets, 2 MiB per file, 8 MiB total, and a 16 MiB compiled browser scene. Asset paths must be relative assets/*.obj paths without traversal or symlinks. Nested asset directories are allowed. Wendy reads only scene.json and referenced assets; unrelated project files are ignored.

Resets and transient controls

Every accepted file-content change, including JSON reformatting, compiles a fresh model and resets simulation time, robot pose, policy history, velocities, and obstacle state. It revokes browser/ROS control grants and leaves physics paused. Resume in the browser, then rearm/restart the controlling publisher as required by its interface. The browser automatically fetches new geometry and poses at the same URL. An unchanged snapshot does not reset or pause the world. Ordinary browser Reset keeps the accepted project geometry and uses the runtime's normal reset behavior.

The browser's movable-obstacle control changes runtime state only. It never writes your local files. A reset or accepted project edit restores that obstacle's default position. To save an environment change, edit the project files.

Fix an edit or reconnect

A malformed scene or missing asset leaves the previous working world intact. Read the error in the terminal or viewer, fix the files, and save again. The watcher combines rapid saves and applies valid changes automatically. A large scene rebuild can take tens of seconds on an emulated VM.

If the same rejected edit needs retrying after you fix an external problem, restart the watcher or run:

wendy vm robot project sync ./my-environment

If the VM stops, start it explicitly. The watcher reconnects automatically when it becomes reachable. A runtime restart restores the default world; keep the watcher running or run sync to reapply your files. If another watcher controls the scene, stop it before retrying.