# Standard Open Arm 100 (SO100) Robot UID: `so100` Agent Class Code: [https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/so100/so_100.py](https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/so100/so_100.py) Quality: A (Values are realistic, but have not been properly identified) Degrees of Freedom: 6 Controllers: `pd_joint_delta_pos`, `pd_joint_pos`, `pd_joint_target_delta_pos` ## Visuals and Collision Models
so100 so100

Visual Meshes


so100 so100

Collision Meshes (Green = Convex Mesh, Blue = Primitive Shape Mesh)