I did not use WSL2, but succeeded in displaying the robot in 3D CAD (Rhinoceros) in windows and moving mycobot according to its movement.
The movement of the model on the 3D CAD is transmitted to the mycobot via python.
So, all you need is Windows.
Please check my youtube! https://www.youtube.com/watch?v=F2F7dBSZWgw