diff --git a/CHANGELOG.md b/CHANGELOG.md
index f6de484..0a7bf93 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,7 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
+- Description: SO-ARM100 (MJCF)
 - Description: Berkeley Humanoid
 
 ### Fixed
diff --git a/README.md b/README.md
index 4a7a285..b9300cb 100644
--- a/README.md
+++ b/README.md
@@ -146,6 +146,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `poppy_ergo_jr_description`   | Poppy Ergo Jr         | Poppy Project            | 6   | URDF       |
 | `sawyer_mj_description`       | Sawyer                | Rethink Robotics         | 7   | MJCF       |
 | `so_arm100`                   | SO-ARM100             | The Robot Studio         | 6   | URDF       |
+| `so_arm100_mj_description`    | SO-ARM100             | The Robot Studio         | 6   | MJCF       |
 | `ur10_description`            | UR10                  | Universal Robots         | 6   | URDF       |
 | `ur10e_mj_description`        | UR10e                 | Universal Robots         | 6   | MJCF       |
 | `ur3_description`             | UR3                   | Universal Robots         | 6   | URDF       |
diff --git a/robot_descriptions/_descriptions.py b/robot_descriptions/_descriptions.py
index ebbbff4..81d0d0b 100644
--- a/robot_descriptions/_descriptions.py
+++ b/robot_descriptions/_descriptions.py
@@ -122,6 +122,7 @@ def has_urdf(self) -> bool:
     "skydio_x2_description": Description(Format.URDF),
     "skydio_x2_mj_description": Description(Format.MJCF),
     "so_arm100": Description(Format.URDF),
+    "so_arm100_mj_description": Description(Format.MJCF),
     "solo_description": Description(Format.URDF),
     "spryped_description": Description(Format.URDF),
     "stretch_description": Description(Format.URDF),
diff --git a/robot_descriptions/_repositories.py b/robot_descriptions/_repositories.py
index be83787..ba1804e 100644
--- a/robot_descriptions/_repositories.py
+++ b/robot_descriptions/_repositories.py
@@ -162,7 +162,7 @@ class Repository:
     ),
     "mujoco_menagerie": Repository(
         url="https://github.com/deepmind/mujoco_menagerie.git",
-        commit="511be2a8bea4bf06ea4a1825c304a5b0cc6b67b1",
+        commit="a88bc450470d97ebc1f282e5969675fb4d1f0ed7",
         cache_path="mujoco_menagerie",
     ),
     "nao_robot": Repository(
diff --git a/robot_descriptions/so_arm100_mj_description.py b/robot_descriptions/so_arm100_mj_description.py
new file mode 100644
index 0000000..6f51c41
--- /dev/null
+++ b/robot_descriptions/so_arm100_mj_description.py
@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2024 Jafar Uruç
+
+"""SO-ARM100 MJCF description."""
+
+from os import getenv as _getenv
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache(
+    "mujoco_menagerie",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "trs_so_arm100")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "so_arm100.xml")