update

README.md

@@ -34,6 +34,7 @@ Our Top-1 Principle: We must make it SUPER EASY to use.
 | `Panda` | <img src="manipulators/franka_panda/vis/Panda_visual.png" width="250"/> | <img src="manipulators/franka_panda/vis/Panda_collision.png" width="250"/> | `UR5eRobotiq85` | <img src="manipulators/universal_ur5e/vis/UR5eRobotiq85_visual.png" width="250"/> | <img src="manipulators/universal_ur5e/vis/UR5eRobotiq85_collision.png" width="250"/> |
 | `PandaRobotiq85` | <img src="manipulators/franka_panda/vis/PandaRobotiq85_visual.png" width="250"/> | <img src="manipulators/franka_panda/vis/PandaRobotiq85_collision.png" width="250"/> |  |  |  |
 | `WidowX250` | <img src="manipulators/trossen_wx250s/vis/WidowX250_visual.png" width="250"/> | <img src="manipulators/trossen_wx250s/vis/WidowX250_collision.png" width="250"/> | `Piper` | <img src="manipulators/agilex_piper/vis/Piper_visual.png" width="250"/> | <img src="manipulators/agilex_piper/vis/Piper_collision.png" width="250"/> |
+| `SoArm100` | <img src="manipulators/trs_so_arm100/vis/SoArm100_visual.png" width="250"/> | <img src="manipulators/trs_so_arm100/vis/SoArm100_collision.png" width="250"/> |
 
 ### Humanoids
 

hands/shadow_hand/shadow_hand_left.urdf

@@ -28,8 +28,7 @@
   <joint name="world_joint" type="fixed">
     <parent link="world"/>
     <child link="palm"/>
-    <!-- <origin rpy="0.0 0.0 1.57079" xyz="0.0 0.0 0.0"/> -->
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <origin rpy="0.0 0.0 1.57079" xyz="0.0 0.0 0.0"/>
   </joint>
   <link name="palm">
     <inertial>

hands/shadow_hand/shadow_hand_right.urdf

@@ -28,8 +28,7 @@
   <joint name="world_joint" type="fixed">
     <parent link="world"/>
     <child link="palm"/>
-    <!-- <origin rpy="0.0 0.0 1.57079" xyz="0.0 0.0 0.0"/> -->
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <origin rpy="0.0 0.0 1.57079" xyz="0.0 0.0 0.0"/>
   </joint>
   <link name="palm">
     <inertial>