SO-101 follower simulator

The built-in so101 profile runs the official SO-101 follower model in MuJoCo. It is virtual only and needs no physical arm, USB device, camera or GPU.

wendy vm create arm-sim --profile so101
wendy vm robot start arm-sim
wendy vm robot status arm-sim
wendy vm robot open arm-sim
wendy vm robot reset arm-sim

Creation leaves the VM stopped. Starting or connecting to vm:arm-sim builds and starts its managed runtime. The first start downloads pinned model assets and runtime dependencies. The viewer has six joint sliders, pause, reset and a wave demo.

Unlike the Go2, G1 and ROSMASTER R2 profiles, SO-101 has no ROS 2 or DDS interface. Control it through the viewer or the runtime's HTTP API.

You can also choose SO-101 under wendy discover → Simulator → Create. wendy vm robot restart arm-sim recovers runtime failures, while wendy vm robot update arm-sim applies the current CLI's runtime source. Stop only this VM with wendy vm stop arm-sim.

The guest agent must advertise so101-virtual-robot. If it does not, the CLI provides an update command. For a development build, target the VM explicitly:

wendy --device vm:arm-sim device update --binary /absolute/path/to/linux-arm64/wendy-agent

Use the existing QEMU VM setup on macOS or Linux. Apple Silicon uses HVF; ARM64 Linux uses KVM when available. Linux hosts using software ARM64 emulation are slower. The default profile requests 4 CPUs and 4096 MiB.

The model comes from TheRobotStudio/SO-ARM100 revision a758567c3978dfeefe282ede0500085a48fe8f78; its Apache-2.0 license, attribution and SHA-256 manifest ship with the runtime. No physical-arm control or real/sim switching is included.