diff --git a/README.md b/README.md
index 9f0d559..05fdb07 100644
--- a/README.md
+++ b/README.md
@@ -2,11 +2,29 @@
Here are the ROS simulation packages for Unitree robots, You can load robots and joint controllers in Gazebo, so you can perform low-level control (control the torque, position and angular velocity) of the robot joints. Please be aware that the Gazebo simulation cannot do high-level control, namely walking. Aside from these simulation functions, you can also control your real robots in ROS with the [unitree_ros_to_real](https://github.com/unitreerobotics/unitree_ros_to_real) packages. For real robots, you can do high-level and low-level control using our ROS packages.
## Packages:
-Robot description: `go1_description`, `a1_description`, `aliengo_description`, `laikago_description`, `z1_description`
+Robot description:
+* `a1_description`
+* `aliengo_description`
+* `aliengoZ1_description`
+* `b1_description`
+* `b2_description`
+* `b2w_description`
+* `g1_description`
+* `go1_description`
+* `go2_description`
+* `go2w_description`
+* `h1_2_description`
+* `h1_description`
+* `laikago_description`
+* `z1_description`
-Robot and joints controller: `unitree_controller`, `z1_controller`
+Robot and joints controller:
+* `unitree_controller`
+* `z1_controller`
-Simulation related: `unitree_gazebo`, `unitree_legged_control`
+Simulation related:
+* `unitree_gazebo`
+* `unitree_legged_control`
# Dependencies
* [ROS](https://www.ros.org/) Melodic or ROS Kinetic (has not been tested)
diff --git a/robots/g1_description/README.md b/robots/g1_description/README.md
index ee26dd6..633dbc3 100644
--- a/robots/g1_description/README.md
+++ b/robots/g1_description/README.md
@@ -4,19 +4,17 @@
This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/).
-
-
+MJCF/URDF for the G1 robot:
-As shown, there are a total of 4 versions of MJCF/URDF for the G1 robot:
-
-* `g1_23dof`
-* `g1_29dof`
-* `g1_29dof_with_hand`
-* `g1_dual_arm`
+| MJCF/URDF file name | `mode_machine` |
+| ----------------------------------------------- | :------------: |
+| `g1_23dof` | 1 |
+| `g1_29dof`/`g1_29dof_with_hand` | 2 |
+| `g1_29dof_lock_waist` | 3 |
+| `g1_23dof_rev_1_0` | 4 |
+| `g1_29dof_rev_1_0`/`g1_29dof_with_hand_rev_1_0` | 5 |
+| `g1_29dof_lock_waist_rev_1_0` | 6 |
+| `g1_dual_arm` | 9 |
## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
diff --git a/robots/g1_description/g1_29dof_lock_waist.urdf b/robots/g1_description/g1_29dof_lock_waist.urdf
new file mode 100644
index 0000000..fe2d57e
--- /dev/null
+++ b/robots/g1_description/g1_29dof_lock_waist.urdf
@@ -0,0 +1,1086 @@
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diff --git a/robots/g1_description/g1_29dof_lock_waist.xml b/robots/g1_description/g1_29dof_lock_waist.xml
new file mode 100644
index 0000000..423eb6a
--- /dev/null
+++ b/robots/g1_description/g1_29dof_lock_waist.xml
@@ -0,0 +1,293 @@
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\ No newline at end of file
diff --git a/robots/g1_description/g1_29dof_lock_waist_rev_1_0.urdf b/robots/g1_description/g1_29dof_lock_waist_rev_1_0.urdf
new file mode 100644
index 0000000..da9861a
--- /dev/null
+++ b/robots/g1_description/g1_29dof_lock_waist_rev_1_0.urdf
@@ -0,0 +1,1058 @@
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diff --git a/robots/g1_description/g1_29dof_lock_waist_rev_1_0.xml b/robots/g1_description/g1_29dof_lock_waist_rev_1_0.xml
new file mode 100644
index 0000000..3ed04df
--- /dev/null
+++ b/robots/g1_description/g1_29dof_lock_waist_rev_1_0.xml
@@ -0,0 +1,290 @@
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\ No newline at end of file
- 
- 
- 
-