diff --git a/README.md b/README.md
index 344c7aa..16d4bc7 100644
--- a/README.md
+++ b/README.md
@@ -49,6 +49,8 @@ A curated list of awesome robot descriptions in URDF, Xacro or MJCF formats.
 | xArm5 | UFACTORY | [Xacro](https://github.com/xArm-Developer/xarm_ros2/blob/master/xarm_description/urdf/xarm5/xarm5.urdf.xacro) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
 | xArm6 | UFACTORY | [Xacro](https://github.com/xArm-Developer/xarm_ros2/blob/master/xarm_description/urdf/xarm6/xarm6.urdf.xacro) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
 | xArm7 | UFACTORY | [Xacro](https://github.com/xArm-Developer/xarm_ros2/blob/master/xarm_description/urdf/xarm7/xarm7.urdf.xacro), [MJCF](https://github.com/google-deepmind/mujoco_menagerie/tree/main/ufactory_xarm7) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
+| Z1 | UNITREE Robotics | [URDF](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/z1_description/xacro/z1.urdf) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
+
 
 ### Bipeds
 
@@ -157,6 +159,8 @@ A curated list of awesome robot descriptions in URDF, Xacro or MJCF formats.
 | ANYmal B | ANYbotics | [MJCF](https://github.com/deepmind/mujoco_menagerie/tree/main/anybotics_anymal_b), [URDF](https://github.com/ANYbotics/anymal_b_simple_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
 | ANYmal C | ANYbotics | [MJCF](https://github.com/deepmind/mujoco_menagerie/tree/main/anybotics_anymal_c), [URDF](https://github.com/ANYbotics/anymal_c_simple_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
 | ANYmal D | ANYbotics | [URDF](https://github.com/ANYbotics/anymal_d_simple_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
+| B1 | UNITREE Robotics | [URDF](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/b1_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
+| B2 | UNITREE Robotics | [URDF](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/b2_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
 | Barkour v0 | Google | [MJCF](https://github.com/google-deepmind/mujoco_menagerie/blob/main/google_barkour_v0/barkour_v0.xml) | Apache-2.0 | ✔️ | ✔️ | ✔️ |
 | Barkour v0 | Google | [URDF](https://github.com/google-deepmind/mujoco_menagerie/blob/main/google_barkour_v0/barkour_v0.urdf) | Apache-2.0 | ✔️ | ✖️  | ✔️ |
 | Barkour vb | Google | [MJCF](https://github.com/google-deepmind/mujoco_menagerie/blob/main/google_barkour_vb/barkour_vb.xml), [URDF](https://github.com/google-deepmind/mujoco_menagerie/blob/main/google_barkour_vb/barkour_vb_rev_1_0_head_straight.urdf) | Apache-2.0 | ✔️ | ✔️ | ✔️ |