Adding SO ARM 101

CHANGELOG.md

@@ -6,6 +6,7 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
+- Description: SO ARM 101 (URDF/MJCF) (thanks to @haixuantao)
 - Add `pull` in the CLI to pull `robot_description` and cache it. (thanks to @haixuantao)
 
 ## [1.18.0] - 2025-06-19

README.md

@@ -151,6 +151,8 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `sawyer_mj_description`       | Sawyer                | Rethink Robotics         | MJCF       | Apache-2.0   |
 | `so_arm100`                   | SO-ARM100             | The Robot Studio         | URDF       | Apache-2.0   |
 | `so_arm100_mj_description`    | SO-ARM100             | The Robot Studio         | MJCF       | Apache-2.0   |
+| `so_arm101_description`       | SO-ARM101             | The Robot Studio         | URDF       | Apache-2.0   |
+| `so_arm101_mj_description`    | SO-ARM101             | The Robot Studio         | MJCF       | Apache-2.0   |
 | `ur10_description`            | UR10                  | Universal Robots         | URDF       | Apache-2.0   |
 | `ur10e_mj_description`        | UR10e                 | Universal Robots         | MJCF       | BSD-3-Clause |
 | `ur3_description`             | UR3                   | Universal Robots         | URDF       | Apache-2.0   |

robot_descriptions/_repositories.py

@@ -267,7 +267,7 @@ class Repository:
     ),
     "SO-ARM100": Repository(
         url="https://github.com/TheRobotStudio/SO-ARM100.git",
-        commit="8967344301571dfa22660c73a901ad00acd6ee91",
+        commit="63eede5a636e548eb8f2854e558bd343c21db9f7",
         cache_path="SO-ARM100",
     ),
     "spryped": Repository(

robot_descriptions/so_arm100.py

@@ -16,10 +16,6 @@
     commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
 )
 
-PACKAGE_PATH: str = _path.join(
-    REPOSITORY_PATH, "URDF", "SO_5DOF_ARM100_8j_URDF.SLDASM"
-)
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "Simulation", "SO100")
 
-URDF_PATH: str = _path.join(
-    PACKAGE_PATH, "urdf", "SO_5DOF_ARM100_8j_URDF.SLDASM.urdf"
-)
+URDF_PATH: str = _path.join(PACKAGE_PATH, "so100.urdf")

robot_descriptions/so_arm101_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2022 Stéphane Caron
+
+"""SO-ARM101 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(
+    "SO-ARM100",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "Simulation", "SO101")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "so101_new_calib.urdf")

robot_descriptions/so_arm101_mj_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2022 Stéphane Caron
+
+"""SO-ARM101 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(
+    "SO-ARM100",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "Simulation", "SO101")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "so101_new_calib.xml")