diff --git a/examples/pybullet/gym/pybullet_data/xarm/base.urdf b/examples/pybullet/gym/pybullet_data/xarm/base.urdf
new file mode 100644
index 000000000..5d6d8cdd3
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/xarm/base.urdf
@@ -0,0 +1,69 @@
+
+
+
+
+
+
+
+
+
+ /xarm
+
+ gazebo_ros_control/DefaultRobotHWSim
+ true
+
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diff --git a/examples/pybullet/gym/pybullet_data/xarm/base_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/base_com.urdf
new file mode 100644
index 000000000..829626252
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/xarm/base_com.urdf
@@ -0,0 +1,69 @@
+
+
+
+
+
+
+
+
+
+ /xarm
+
+ gazebo_ros_control/DefaultRobotHWSim
+ true
+
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diff --git a/examples/pybullet/gym/pybullet_data/xarm/link1.urdf b/examples/pybullet/gym/pybullet_data/xarm/link1.urdf
new file mode 100644
index 000000000..990825f80
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/xarm/link1.urdf
@@ -0,0 +1,69 @@
+
+
+
+
+
+
+
+
+
+ /xarm
+
+ gazebo_ros_control/DefaultRobotHWSim
+ true
+
+
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+
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diff --git a/examples/pybullet/gym/pybullet_data/xarm/link1_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/link1_com.urdf
new file mode 100644
index 000000000..497cc5e84
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/xarm/link1_com.urdf
@@ -0,0 +1,69 @@
+
+
+
+
+
+
+
+
+
+ /xarm
+
+ gazebo_ros_control/DefaultRobotHWSim
+ true
+
+
+
+
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diff --git a/examples/pybullet/gym/pybullet_data/xarm/link2.urdf b/examples/pybullet/gym/pybullet_data/xarm/link2.urdf
new file mode 100644
index 000000000..b5bff838a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/xarm/link2.urdf
@@ -0,0 +1,70 @@
+
+
+
+
+
+
+
+
+
+ /xarm
+
+ gazebo_ros_control/DefaultRobotHWSim
+ true
+
+
+
+
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diff --git a/examples/pybullet/gym/pybullet_data/xarm/link2_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/link2_com.urdf
new file mode 100644
index 000000000..40a065525
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/xarm/link2_com.urdf
@@ -0,0 +1,70 @@
+
+
+
+
+
+
+
+
+
+ /xarm
+
+ gazebo_ros_control/DefaultRobotHWSim
+ true
+
+
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+
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diff --git a/examples/pybullet/gym/pybullet_data/xarm/link3.urdf b/examples/pybullet/gym/pybullet_data/xarm/link3.urdf
new file mode 100644
index 000000000..2749d2666
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/xarm/link3.urdf
@@ -0,0 +1,69 @@
+
+
+
+
+
+
+
+
+
+ /xarm
+
+ gazebo_ros_control/DefaultRobotHWSim
+ true
+
+
+
+
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diff --git a/examples/pybullet/gym/pybullet_data/xarm/link3_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/link3_com.urdf
new file mode 100644
index 000000000..3bc0991a1
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/xarm/link3_com.urdf
@@ -0,0 +1,69 @@
+
+
+
+
+
+
+
+
+
+ /xarm
+
+ gazebo_ros_control/DefaultRobotHWSim
+ true
+
+
+
+
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diff --git a/examples/pybullet/gym/pybullet_data/xarm/link4.urdf b/examples/pybullet/gym/pybullet_data/xarm/link4.urdf
new file mode 100644
index 000000000..e2e6d11ab
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/xarm/link4.urdf
@@ -0,0 +1,70 @@
+
+
+
+
+
+
+
+
+
+ /xarm
+
+ gazebo_ros_control/DefaultRobotHWSim
+ true
+
+
+
+
+
+
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diff --git a/examples/pybullet/gym/pybullet_data/xarm/link4_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/link4_com.urdf
new file mode 100644
index 000000000..25183bb4f
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/xarm/link4_com.urdf
@@ -0,0 +1,70 @@
+
+
+
+
+
+
+
+
+
+ /xarm
+
+ gazebo_ros_control/DefaultRobotHWSim
+ true
+
+
+
+
+
+
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diff --git a/examples/pybullet/gym/pybullet_data/xarm/link5.urdf b/examples/pybullet/gym/pybullet_data/xarm/link5.urdf
new file mode 100644
index 000000000..0bc4f787b
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/xarm/link5.urdf
@@ -0,0 +1,69 @@
+
+
+
+
+
+
+
+
+
+ /xarm
+
+ gazebo_ros_control/DefaultRobotHWSim
+ true
+
+
+
+
+
+
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diff --git a/examples/pybullet/gym/pybullet_data/xarm/link5_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/link5_com.urdf
new file mode 100644
index 000000000..c1b4616c1
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/xarm/link5_com.urdf
@@ -0,0 +1,69 @@
+
+
+
+
+
+
+
+
+
+ /xarm
+
+ gazebo_ros_control/DefaultRobotHWSim
+ true
+
+
+
+
+
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diff --git a/examples/pybullet/gym/pybullet_data/xarm/link6.urdf b/examples/pybullet/gym/pybullet_data/xarm/link6.urdf
new file mode 100644
index 000000000..0ce9a887d
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/xarm/link6.urdf
@@ -0,0 +1,70 @@
+
+
+
+
+
+
+
+
+
+ /xarm
+
+ gazebo_ros_control/DefaultRobotHWSim
+ true
+
+
+
+
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diff --git a/examples/pybullet/gym/pybullet_data/xarm/link6_com.urdf b/examples/pybullet/gym/pybullet_data/xarm/link6_com.urdf
new file mode 100644
index 000000000..4cb707430
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/xarm/link6_com.urdf
@@ -0,0 +1,70 @@
+
+
+
+
+
+
+
+
+
+ /xarm
+
+ gazebo_ros_control/DefaultRobotHWSim
+ true
+
+
+
+
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