| # Standard Open Arm-100 5DOF - Version 1.3 Description (MJCF) | |
| > [!IMPORTANT] | |
| > Requires MuJoCo 3.1.6 or later. | |
| ## Changelog | |
| See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes. | |
| ## Overview | |
| This package contains a simplified robot description (MJCF) of the [Standard Open Arm-100](https://github.com/TheRobotStudio/SO-ARM100/tree/main) developed by [The Robot Studio](https://www.therobotstudio.com/). It is derived from the [publicly available URDF description](https://github.com/TheRobotStudio/SO-ARM100/blob/4e9c5588d8a8415b6a6c2142a0ce8c32207cf3e9/URDF/SO_5DOF_ARM100_8j_URDF.SLDASM/urdf/SO_5DOF_ARM100_8j_URDF.SLDASM.urdf). | |
| <p float="left"> | |
| <img src="so_arm100.png" width="400"> | |
| </p> | |
| ## URDF → MJCF derivation steps | |
| 1. Added `<mujoco><compiler discardvisual="false" strippath="false"/></mujoco>` to the URDF’s `<robot>` element to preserve visual geometries. | |
| 2. Loaded the URDF into MuJoCo and saved it as a corresponding MJCF. | |
| 3. Manually edited the MJCF to extract shared properties into the `<default>` section. | |
| 4. Edited original meshes: extracted servos into separate files, manually created convex collision meshes for the gripper jaws. | |
| 5. Added extra box-shaped collision geoms to the gripper for additional contact points. | |
| 6. Added an `exclude` clause to prevent collisions between `Base` and `Rotation_Pitch`. | |
| 7. Added approximate joint limits. | |
| 8. Added position-controlled actuators. | |
| 9. Added `impratio="10"` and `cone="elliptic"` attributes for improved no-slip behavior. | |
| 10. Created `scene.xml` to include the robot, along with a textured ground plane, skybox, and haze. | |
| ## License | |
| This model is released under an [Apache-2.0 License](LICENSE). | |