diff --git a/robots/z1_description/xacro/robot.xacro b/robots/z1_description/xacro/robot.xacro
index b481cc7..805ddaf 100644
--- a/robots/z1_description/xacro/robot.xacro
+++ b/robots/z1_description/xacro/robot.xacro
@@ -7,6 +7,7 @@
     <xacro:include filename="$(find z1_description)/xacro/transmission.xacro"/>
 
     <!-- <xacro:property name="UnitreeGripper" value="false"/> -->
+    <xacro:arg name="UnitreeGripper" default="false"/>
 
     <link name="world"/>
 
diff --git a/robots/z1_description/xacro/z1.urdf b/robots/z1_description/xacro/z1.urdf
new file mode 100644
index 0000000..c46e19e
--- /dev/null
+++ b/robots/z1_description/xacro/z1.urdf
@@ -0,0 +1,283 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from robot.xacro                    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="z1_description">
+  <!-- ros_control plugin -->
+  <gazebo>
+    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
+      <robotNamespace>/z1_gazebo</robotNamespace>
+      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+    </plugin>
+  </gazebo>
+  <gazebo reference="link04">
+    <self_collide>true</self_collide>
+  </gazebo>
+  <gazebo reference="link05">
+    <self_collide>true</self_collide>
+  </gazebo>
+  <gazebo reference="link06">
+    <self_collide>true</self_collide>
+  </gazebo>
+  <link name="world"/>
+  <joint name="base_static_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="world"/>
+    <child link="link00"/>
+  </joint>
+  <link name="link00">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://z1_description/meshes/z1_Link00.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.051" radius="0.0325"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.0255"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00334984 -0.00013615 0.02495843"/>
+      <mass value="0.47247481"/>
+      <inertia ixx="0.00037937" ixy="3.5e-07" ixz="1.037e-05" iyy="0.00041521" iyz="9.9e-07" izz="0.00053066"/>
+    </inertial>
+  </link>
+  <joint name="joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.0585"/>
+    <parent link="link00"/>
+    <child link="link01"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <limit effort="30.0" lower="-2.6179938779914944" upper="2.6179938779914944" velocity="10"/>
+  </joint>
+  <link name="link01">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://z1_description/meshes/z1_Link01.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <!-- <collision>
+            <geometry>
+                <cylinder length="${2*motor_height}" radius="${motor_diameter}"/>
+            </geometry>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+        </collision> -->
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.47e-06 -0.00025198 0.02317169"/>
+      <mass value="0.67332551"/>
+      <inertia ixx="0.00128328" ixy="6e-08" ixz="4e-07" iyy="0.00071931" iyz="-5e-07" izz="0.00083936"/>
+    </inertial>
+  </link>
+  <joint name="joint2" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.045"/>
+    <parent link="link01"/>
+    <child link="link02"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="2.0" friction="2.0"/>
+    <limit effort="60.0" lower="0.0" upper="3.141592653589793" velocity="10"/>
+  </joint>
+  <link name="link02">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://z1_description/meshes/z1_Link02.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.102" radius="0.0325"/>
+      </geometry>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+    </collision>
+    <collision>
+      <geometry>
+        <cylinder length="0.235" radius="0.0225"/>
+      </geometry>
+      <origin rpy="0 1.5707963267948966 0" xyz="-0.16249999999999998 0 0"/>
+    </collision>
+    <collision>
+      <geometry>
+        <cylinder length="0.051" radius="0.0325"/>
+      </geometry>
+      <origin rpy="1.5707963267948966 0 0" xyz="-0.35 0 0"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.11012601 0.00240029 0.00158266"/>
+      <mass value="1.19132258"/>
+      <inertia ixx="0.00102138" ixy="-0.00062358" ixz="-5.13e-06" iyy="0.02429457" iyz="2.1e-06" izz="0.02466114"/>
+    </inertial>
+  </link>
+  <joint name="joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.35 0 0"/>
+    <parent link="link02"/>
+    <child link="link03"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <limit effort="30.0" lower="-4.782202150464463" upper="0.0" velocity="10"/>
+  </joint>
+  <link name="link03">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://z1_description/meshes/z1_Link03.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.116" radius="0.02"/>
+      </geometry>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.128 0 0.055"/>
+    </collision>
+    <collision>
+      <geometry>
+        <cylinder length="0.059" radius="0.0325"/>
+      </geometry>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.2205 0 0.055"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.10609208 -0.00541815 0.03476383"/>
+      <mass value="0.83940874"/>
+      <inertia ixx="0.00108061" ixy="8.669e-05" ixz="0.00208102" iyy="0.00954238" iyz="1.332e-05" izz="0.00886621"/>
+    </inertial>
+  </link>
+  <joint name="joint4" type="revolute">
+    <origin rpy="0 0 0" xyz="0.218 0 0.057"/>
+    <parent link="link03"/>
+    <child link="link04"/>
+    <axis xyz="0 1 0"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <limit effort="30.0" lower="-1.7453292519943295" upper="1.5707963267948966" velocity="10"/>
+  </joint>
+  <link name="link04">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://z1_description/meshes/z1_Link04.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.073" radius="0.0325"/>
+      </geometry>
+      <origin rpy="1.5707963267948966 0 0" xyz="0.0472 0 0"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.04366681 0.00364738 -0.00170192"/>
+      <mass value="0.56404563"/>
+      <inertia ixx="0.00031576" ixy="-8.13e-05" ixz="-4.091e-05" iyy="0.00092996" iyz="5.96e-06" izz="0.00097912"/>
+    </inertial>
+  </link>
+  <joint name="joint5" type="revolute">
+    <origin rpy="0 0 0" xyz="0.07 0.0 0.0"/>
+    <parent link="link04"/>
+    <child link="link05"/>
+    <axis xyz="0 0 1"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <limit effort="30.0" lower="-1.7278759594743864" upper="1.7278759594743864" velocity="10"/>
+  </joint>
+  <link name="link05">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://z1_description/meshes/z1_Link05.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.03121533 0.0 0.00646316"/>
+      <mass value="0.38938492"/>
+      <inertia ixx="0.00017605" ixy="-4e-07" ixz="-5.689e-05" iyy="0.00055896" iyz="1.3e-07" izz="0.0005386"/>
+    </inertial>
+  </link>
+  <joint name="joint6" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0492 0.0 0.0"/>
+    <parent link="link05"/>
+    <child link="link06"/>
+    <axis xyz="1 0 0"/>
+    <dynamics damping="1.0" friction="1.0"/>
+    <limit effort="30.0" lower="-2.792526803190927" upper="2.792526803190927" velocity="10"/>
+  </joint>
+  <link name="link06">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://z1_description/meshes/z1_Link06.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.051" radius="0.0325"/>
+      </geometry>
+      <origin rpy="0 1.5707963267948966 0" xyz="0.0255 0 0"/>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0241569 -0.00017355 -0.00143876"/>
+      <mass value="0.28875807"/>
+      <inertia ixx="0.00018328" ixy="-1.22e-06" ixz="-5.4e-07" iyy="0.0001475" iyz="-8e-08" izz="0.0001468"/>
+    </inertial>
+  </link>
+  <transmission name="JointTrans1">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint1">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="Actuator1">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="JointTrans2">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint2">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="Actuator2">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="JointTrans3">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint3">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="Actuator3">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="JointTrans4">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint4">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="Actuator4">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="JointTrans5">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint5">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="Actuator5">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="JointTrans6">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint6">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="Actuator6">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+</robot>
+