diff --git a/CHANGELOG.md b/CHANGELOG.md
index aac9065..9b1e3b8 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,9 +6,10 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
-- Description: Unitree B2
 - Description: Left and right LEAP hand (MJCF) (thanks to @kevinzakka)
 - Description: PAL Talos (MJCF) (thanks to @kevinzakka)
+- Description: SO-ARM100
+- Description: Unitree B2
 
 ### Changed
 
diff --git a/README.md b/README.md
index a5c8259..f8b027c 100644
--- a/README.md
+++ b/README.md
@@ -145,6 +145,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `panda_mj_description`        | Panda                 | Franka Robotics          | 8   | MJCF       |
 | `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       |
 | `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 32ff1ba..12d6b03 100644
--- a/robot_descriptions/_descriptions.py
+++ b/robot_descriptions/_descriptions.py
@@ -120,6 +120,7 @@ def has_urdf(self) -> bool:
     "simple_humanoid_description": Description(Format.URDF),
     "skydio_x2_description": Description(Format.URDF),
     "skydio_x2_mj_description": Description(Format.MJCF),
+    "so_arm100": Description(Format.URDF),
     "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 2392911..b4f8a24 100644
--- a/robot_descriptions/_repositories.py
+++ b/robot_descriptions/_repositories.py
@@ -230,6 +230,11 @@ class Repository:
         commit="0e488ee4708155a71b2a92d05305a9186b543593",
         cache_path="simple_humanoid_description",
     ),
+    "SO-ARM100": Repository(
+        url="https://github.com/TheRobotStudio/SO-ARM100/tree/main",
+        commit="8967344301571dfa22660c73a901ad00acd6ee91",
+        cache_path="SO-ARM100",
+    ),
     "spryped": Repository(
         url="https://github.com/bbokser/spryped.git",
         commit="f360a6b78667a4d97c86cad465ef8f4c9512462b",
diff --git a/robot_descriptions/so_arm100.py b/robot_descriptions/so_arm100.py
new file mode 100644
index 0000000..9bb57ff
--- /dev/null
+++ b/robot_descriptions/so_arm100.py
@@ -0,0 +1,25 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2022 Stéphane Caron
+
+"""SO-ARM100 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, "URDF", "SO_5DOF_ARM100_8j_URDF.SLDASM"
+)
+
+URDF_PATH: str = _path.join(
+    PACKAGE_PATH, "urdf", "SO_5DOF_ARM100_8j_URDF.SLDASM.urdf"
+)