---
title: SO-101 follower simulator
description: Run a virtual six-joint LeRobot SO-101 arm on macOS or Linux.
---

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.

```bash
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:

```bash
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.