Yunsmn/VELMA

VELMA - Vision Enabled LLM Manipulation Arm is a SO101 arm in MuJoCo that runs pick and place with a fixed side camera that locates the object, and the wrist camera that triangulates it to about 1 mm. The arm grasps and places from those coordinates, and can be driven by an LLM over MCP or by hand from a terminal control panel.

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so101-sim

Yunsmn/VELMA

MCP server Claude CodeCodexCursor

MCP server "so101-sim", hosted remotely at localhost, as configured in Yunsmn/VELMA.

1 1mo ago A tokens not measured

so101-arm

Yunsmn/VELMA

Skill Claude CodeCodex

Drive an SO-101 6-DOF robot arm with a parallel-jaw gripper in a MuJoCo tabletop simulation, through an MCP server. Use whenever a task means physically manipulating an object with the arm — pick up, move, place, or clear an obstacle. Connects over MCP and works with any LLM runtime, whether it has native…

1 1mo ago A 88 tokens