mujoco-sim

SO101 simulation

This repo includes the Robot Studio SO101 follower-arm model from google-deepmind/mujoco_menagerie under model/so101/. The exposed motors follow the LeRobot-style names:

• shoulder_pan
• shoulder_lift
• elbow_flex
• wrist_flex
• wrist_roll
• gripper

Run the viewer demo with the existing conda environment:

conda run -n mujoco-sim python so101_env.py

Gymnasium usage:

from so101_env import SO101GymEnv

env = SO101GymEnv()
obs, info = env.reset()
obs, reward, terminated, truncated, info = env.step(env.action_space.sample())