diff --git a/xarm_description/urdf/gripper/gripper.urdf.xacro b/xarm_description/urdf/gripper/gripper.urdf.xacro
new file mode 100644
index 00000000..5693d002
--- /dev/null
+++ b/xarm_description/urdf/gripper/gripper.urdf.xacro
@@ -0,0 +1,11 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="UF_GRIPPER">
+  <xacro:arg name="robot_type" default="xarm"/>
+  <xacro:arg name="prefix" default=""/>
+  <xacro:arg name="mesh_suffix" default="stl"/>
+
+  <xacro:include filename="$(find xarm_description)/urdf/gripper/gripper_macro.xacro" />
+
+  <xacro:gripper_device robot_type="$(arg robot_type)" prefix="$(arg prefix)" mesh_suffix="$(arg mesh_suffix)" />
+
+</robot>
\ No newline at end of file
diff --git a/xarm_description/urdf/gripper/gripper_macro.xacro b/xarm_description/urdf/gripper/gripper_macro.xacro
new file mode 100644
index 00000000..04e5cc02
--- /dev/null
+++ b/xarm_description/urdf/gripper/gripper_macro.xacro
@@ -0,0 +1,29 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="UF_GRIPPER">
+  <xacro:macro name="gripper_device" params="prefix:='' robot_type:='xarm' mesh_suffix:='stl' ">
+
+    <!-- Load Common Material -->
+    <xacro:include filename="$(find xarm_description)/urdf/_private_macro.xacro" />
+    <xacro:device_macro_begin />
+
+    <!-- Load Common Material -->
+    <xacro:include filename="$(find xarm_description)/urdf/common/common.material.xacro" />
+    <xacro:common_material prefix="${prefix}"/>
+
+    <xacro:property name="mesh_path" value="package://xarm_description/meshes" scope="parent"/>
+
+    <!-- include common.link.xacro -->
+    <xacro:include filename="$(find xarm_description)/urdf/common/common.link.xacro" />
+
+    <xacro:if value="${robot_type == 'lite'}">
+      <!-- Load Lite Gripper Model URDF -->
+      <xacro:include filename="$(find xarm_description)/urdf/gripper/lite_gripper.urdf.xacro" />
+      <xacro:uflite_gripper_urdf prefix="${prefix}" />
+    </xacro:if>
+    <xacro:unless value="${robot_type == 'lite'}">
+      <!-- Load XArm Gripper Model URDF -->
+      <xacro:include filename="$(find xarm_description)/urdf/gripper/xarm_gripper_macro.xacro" />
+      <xacro:xarm_gripper_macro prefix="${prefix}" />
+    </xacro:unless>
+  </xacro:macro>
+</robot>
\ No newline at end of file
diff --git a/xarm_description/urdf/vacuum_gripper/vacuum_gripper.urdf.xacro b/xarm_description/urdf/vacuum_gripper/vacuum_gripper.urdf.xacro
new file mode 100644
index 00000000..3cbff02f
--- /dev/null
+++ b/xarm_description/urdf/vacuum_gripper/vacuum_gripper.urdf.xacro
@@ -0,0 +1,11 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="UF_VACUUM_GRIPPER">
+  <xacro:arg name="robot_type" default="xarm"/>
+  <xacro:arg name="prefix" default=""/>
+  <xacro:arg name="mesh_suffix" default="stl"/>
+
+  <xacro:include filename="$(find xarm_description)/urdf/vacuum_gripper/vacuum_gripper_macro.xacro" />
+
+  <xacro:vacuum_gripper_device robot_type="$(arg robot_type)" prefix="$(arg prefix)" mesh_suffix="$(arg mesh_suffix)" />
+
+</robot>
\ No newline at end of file
diff --git a/xarm_description/urdf/vacuum_gripper/vacuum_gripper_macro.xacro b/xarm_description/urdf/vacuum_gripper/vacuum_gripper_macro.xacro
new file mode 100644
index 00000000..9f9c03f7
--- /dev/null
+++ b/xarm_description/urdf/vacuum_gripper/vacuum_gripper_macro.xacro
@@ -0,0 +1,29 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="UF_VACUUM_GRIPPER">
+  <xacro:macro name="vacuum_gripper_device" params="prefix:='' robot_type:='xarm' mesh_suffix:='stl' ">
+
+    <!-- Load Common Material -->
+    <xacro:include filename="$(find xarm_description)/urdf/_private_macro.xacro" />
+    <xacro:device_macro_begin />
+
+    <!-- Load Common Material -->
+    <xacro:include filename="$(find xarm_description)/urdf/common/common.material.xacro" />
+    <xacro:common_material prefix="${prefix}"/>
+
+    <xacro:property name="mesh_path" value="package://xarm_description/meshes" scope="parent"/>
+
+    <!-- include common.link.xacro -->
+    <xacro:include filename="$(find xarm_description)/urdf/common/common.link.xacro" />
+
+    <xacro:if value="${robot_type == 'lite'}">
+      <!-- Load Lite Gripper Model URDF -->
+      <xacro:include filename="$(find xarm_description)/urdf/vacuum_gripper/lite_vacuum_gripper.urdf.xacro" />
+      <xacro:uflite_vacuum_gripper_urdf prefix="${prefix}" />
+    </xacro:if>
+    <xacro:unless value="${robot_type == 'lite'}">
+      <!-- Load XArm Gripper Model URDF -->
+      <xacro:include filename="$(find xarm_description)/urdf/vacuum_gripper/xarm_vacuum_gripper.urdf.xacro" />
+      <xacro:xarm_vacuum_gripper_urdf prefix="${prefix}" />
+    </xacro:unless>
+  </xacro:macro>
+</robot>
\ No newline at end of file
diff --git a/xarm_gripper/urdf/xarm_gripper_model.xacro b/xarm_gripper/urdf/xarm_gripper_model.xacro
index ac8bfb25..445d37cd 100644
--- a/xarm_gripper/urdf/xarm_gripper_model.xacro
+++ b/xarm_gripper/urdf/xarm_gripper_model.xacro
@@ -2,7 +2,7 @@
 <robot xmlns:xacro="http://ros.org/wiki/xacro"
        name="xarm_gripper" >
   <!-- common stuff -->
-  <xacro:include filename="$(find xarm_description)/urdf/common.gazebo.xacro" />
+  <xacro:include filename="$(find xarm_description)/urdf/common/common.gazebo.xacro" />
 
   <!-- xarm_gripper -->
   <xacro:include filename="$(find xarm_gripper)/urdf/xarm_gripper.urdf.xacro" />