diff --git a/.gitattributes b/.gitattributes
index c07d2a154b743bd1ff36c16cbb7236142f3752c9..add715a82a58609e019e13721a8ed34b31a13739 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -65,3 +65,43 @@ g1_circle_tray_holder.usd filter=lfs diff=lfs merge=lfs -text
*.usd* filter=lfs diff=lfs merge=lfs -text
tray_holder_side_left.stl filter=lfs diff=lfs merge=lfs -text
tray_holder_side_right.stl filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/head_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/left_ankle_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/left_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/left_hip_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/left_hip_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/left_knee_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/left_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/left_shoulder_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/left_shoulder_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/left_shoulder_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/left_wrist_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/left_wrist_roll_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/left_wrist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/logo_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/pelvis_contour_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/pelvis.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/right_ankle_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/right_hip_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/right_hip_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/right_hip_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/right_knee_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/right_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/right_shoulder_pitch_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/right_shoulder_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/right_shoulder_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/right_wrist_roll_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/right_wrist_roll_rubber_hand.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/right_wrist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/torso_constraint_L_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/torso_constraint_R_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/torso_link_23dof_rev_1_0.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/torso_link_rev_1_0.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/torso_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/tray_holder_side_left.stl filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/tray_holder_side_right.stl filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/waist_constraint_L.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/waist_constraint_R.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/waist_support_link.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/waist_yaw_link_rev_1_0.STL filter=lfs diff=lfs merge=lfs -text
+g1_description/meshes/waist_yaw_link.STL filter=lfs diff=lfs merge=lfs -text
diff --git a/g1_description/README.md b/g1_description/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..6fe48cea75d8dbec798e07457693601205ab9f13
--- /dev/null
+++ b/g1_description/README.md
@@ -0,0 +1,30 @@
+# Unitree G1 Description (URDF & MJCF)
+
+## Overview
+
+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:
+
+| MJCF/URDF file name | `mode_machine` | Hip roll reduction ratio | Update status | dof#leg | dof#waist | dof#arm | dof#hand |
+| ----------------------------- | :------------: | :----------------------: | ------------- | :-----: | :-------: | :-----: | :------: |
+| `g1_23dof` | 1 | 14.5 | Beta | 6*2 | 1 | 5*2 | 0 |
+| `g1_29dof` | 2 | 14.5 | Beta | 6*2 | 3 | 7*2 | 0 |
+| `g1_29dof_with_hand` | 2 | 14.5 | Beta | 6*2 | 3 | 7*2 | 7*2 |
+| `g1_29dof_lock_waist` | 3 | 14.5 | Beta | 6*2 | 1 | 7*2 | 0 |
+| `g1_23dof_rev_1_0` | 4 | 22.5 | Up-to-date | 6*2 | 1 | 5*2 | 0 |
+| `g1_29dof_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 0 |
+| `g1_29dof_with_hand_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 7*2 |
+| `g1_29dof_lock_waist_rev_1_0` | 6 | 22.5 | Up-to-date | 6*2 | 1 | 7*2 | 0 |
+| `g1_dual_arm` | 9 | null | Up-to-date | 0 | 0 | 7*2 | 0 |
+
+## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
+
+1. Open MuJoCo Viewer
+
+ ```bash
+ pip install mujoco
+ python -m mujoco.viewer
+ ```
+
+2. Drag and drop the MJCF/URDF model file (`g1_XXX.xml`/`g1_XXX.urdf`) to the MuJoCo Viewer.
diff --git a/g1_description/g1_tray_holder.urdf b/g1_description/g1_tray_holder.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..58ab99bb6a3504e4a02bc9cb5eb0597c222a0252
--- /dev/null
+++ b/g1_description/g1_tray_holder.urdf
@@ -0,0 +1,1064 @@
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\ No newline at end of file
diff --git a/g1_description/g1_tray_holder.xml b/g1_description/g1_tray_holder.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ad99145c8d87c94bf555db1122ab93742686a7ac
--- /dev/null
+++ b/g1_description/g1_tray_holder.xml
@@ -0,0 +1,450 @@
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diff --git a/g1_description/meshes/head_link.STL b/g1_description/meshes/head_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..401f822751c33dab53c6cee77eb62890aca5cd8f
--- /dev/null
+++ b/g1_description/meshes/head_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:005fb67fbd3eff94aa8bf4a6e83238174e9f91b6721f7111594322f223724411
+size 932784
diff --git a/g1_description/meshes/left_ankle_pitch_link.STL b/g1_description/meshes/left_ankle_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..69de8490184afc698f633e34bb74e65351bd4689
Binary files /dev/null and b/g1_description/meshes/left_ankle_pitch_link.STL differ
diff --git a/g1_description/meshes/left_ankle_roll_link.STL b/g1_description/meshes/left_ankle_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..cb69f65c6a8059fc6720cb393540f579b4d0c26e
--- /dev/null
+++ b/g1_description/meshes/left_ankle_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4092af943141d4d9f74232f3cfa345afc6565f46a077793b8ae0e68b39dc33f
+size 653384
diff --git a/g1_description/meshes/left_elbow_link.STL b/g1_description/meshes/left_elbow_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..1a96d99ba469960173129084ab6dd3bf8a732a71
Binary files /dev/null and b/g1_description/meshes/left_elbow_link.STL differ
diff --git a/g1_description/meshes/left_hip_pitch_link.STL b/g1_description/meshes/left_hip_pitch_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..4cf7475bf6bbaef47d5b3f7644a34c73b3d64037
--- /dev/null
+++ b/g1_description/meshes/left_hip_pitch_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4725168105ee768ee31638ef22b53f6be2d7641bfd7cfefe803488d884776fa4
+size 181684
diff --git a/g1_description/meshes/left_hip_roll_link.STL b/g1_description/meshes/left_hip_roll_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..585f6040c38571177d55519417a0f46ca7b29381
--- /dev/null
+++ b/g1_description/meshes/left_hip_roll_link.STL
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91f25922ee8a7c3152790051bebad17b4d9cd243569c38fe340285ff93a97acf
+size 192184
diff --git a/g1_description/meshes/left_hip_yaw_link.STL b/g1_description/meshes/left_hip_yaw_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..b46a74134f90c568cbdfb8484eeb83a0503b4504
--- /dev/null
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