diff --git a/darwin_apps/launch/charge/charge_sim.launch b/darwin_apps/launch/charge/charge_sim.launch
new file mode 100644
index 0000000000000000000000000000000000000000..8510b1f43962e3630ae44ea8f5859ffd97e0a74a
--- /dev/null
+++ b/darwin_apps/launch/charge/charge_sim.launch
@@ -0,0 +1,19 @@
+<launch>
+
+ <arg name="robot" default="darwin" />
+ <arg name="environment" default="charge_env" />
+
+ <include file="$(find darwin_description)/launch/darwin_sim.launch">
+ <arg name="robot" value="$(arg robot)" />
+ </include>
+
+ <!-- launch dynamic reconfigure -->
+ <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+ output="screen"/>
+
+ <include file="$(find darwin_description)/launch/charge_env.launch">
+ <arg name="environment" value="$(arg environment)" />
+ </include>
+
+</launch>
+
diff --git a/darwin_description/launch/charge_env.launch b/darwin_description/launch/charge_env.launch
new file mode 100644
index 0000000000000000000000000000000000000000..7e24a80fe29339d03b6425c2cebc677ff2f39987
--- /dev/null
+++ b/darwin_description/launch/charge_env.launch
@@ -0,0 +1,10 @@
+<launch>
+ <arg name="environment" default="charge_env" />
+
+ <!-- Convert an xacro and put on parameter server -->
+ <param name="charge_environment"
+ command="$(find xacro)/xacro.py '$(find darwin_description)/urdf/charge/$(arg environment).xacro'" />
+
+ <node name="spawn_charge_station" pkg="gazebo_ros" type="spawn_model" args="-param charge_environment -urdf -model charge_station -x 1.0 -y 0.25 -z 0.03 -R 0 -P 0 -Y 3.14159"/>
+
+</launch>
diff --git a/darwin_description/meshes/charge/charge_support.stl b/darwin_description/meshes/charge/charge_support.stl
new file mode 100755
index 0000000000000000000000000000000000000000..3f0a0d183d43f5471dabca68a8fa26d3733f8167
Binary files /dev/null and b/darwin_description/meshes/charge/charge_support.stl differ
diff --git a/darwin_description/meshes/charge/connector.stl b/darwin_description/meshes/charge/connector.stl
new file mode 100755
index 0000000000000000000000000000000000000000..27fa7fe0987a890003b936267a52c694aec85e58
Binary files /dev/null and b/darwin_description/meshes/charge/connector.stl differ
diff --git a/darwin_description/meshes/charge/far_qr.stl b/darwin_description/meshes/charge/far_qr.stl
new file mode 100755
index 0000000000000000000000000000000000000000..201896091af9f860b8c06b31436aaf4ab914b3e5
Binary files /dev/null and b/darwin_description/meshes/charge/far_qr.stl differ
diff --git a/darwin_description/meshes/charge/near_qr.stl b/darwin_description/meshes/charge/near_qr.stl
new file mode 100755
index 0000000000000000000000000000000000000000..c229ea9b16b0d5a466ae346d8c9129ad0c291551
Binary files /dev/null and b/darwin_description/meshes/charge/near_qr.stl differ
diff --git a/darwin_description/urdf/charge/charge_env.xacro b/darwin_description/urdf/charge/charge_env.xacro
new file mode 100755
index 0000000000000000000000000000000000000000..c2dc91d50fd028e9442c1216fd1fd5b5d2413bc2
--- /dev/null
+++ b/darwin_description/urdf/charge/charge_env.xacro
@@ -0,0 +1,11 @@
+<robot name="bioloid" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:include filename="$(find bioloid_description)/urdf/ceabot/obstacle_base.xacro" />
+ <xacro:include filename="$(find darwin_description)/urdf/charge/charge_station.xacro" />
+
+ <xacro:obstacle_base name="obstacle_base"/>
+ <xacro:charge_station name="station" parent="obstacle_base">
+ <origin xyz="0.5 0.5 0.0" rpy="0 0 0" />
+ </xacro:charge_station>
+
+</robot>
diff --git a/darwin_description/urdf/charge/charge_station.xacro b/darwin_description/urdf/charge/charge_station.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..8dd1e192cc61ff5545b68759f771c56b503d0538
--- /dev/null
+++ b/darwin_description/urdf/charge/charge_station.xacro
@@ -0,0 +1,152 @@
+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <xacro:include filename="$(find bioloid_description)/urdf/qrcodes/qrcode.xacro" />
+
+ <xacro:macro name="charge_station" params="name parent *origin">
+ <!-- charge station support -->
+ <link name="${name}_support_link">
+ <inertial>
+ <mass value="0.20000000"/>
+ <origin xyz="0.00000000 0.00000000 0.25000000" rpy="0 0 0"/>
+ <inertia ixx="0.00417484" ixy="0.0" ixz="0.0" iyy="0.00417484" iyz="0.0" izz="0.00001634" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://darwin_description/meshes/charge/charge_support.stl"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://darwin_description/meshes/charge/charge_support.stl"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_support_joint" type="fixed">
+ <xacro:insert_block name="origin" />
+ <parent link="${parent}_link"/>
+ <child link="${name}_support_link"/>
+ </joint>
+
+ <!-- charge station far QR -->
+ <link name="${name}_far_qr_link">
+ <inertial>
+ <mass value="0.10000000"/>
+ <origin xyz="0.00000000 0.00000000 0.000000" rpy="0 0 0"/>
+ <inertia ixx="0.00017000" ixy="0.0" ixz="0.0" iyy="0.00017000" iyz="0.0" izz="0.00017333" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://darwin_description/meshes/charge/far_qr.stl"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://darwin_description/meshes/charge/far_qr.stl"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_far_qr_joint" type="fixed">
+ <origin xyz="0.0 0.0 0.4" rpy="0 0 0"/>
+ <parent link="${name}_support_link"/>
+ <child link="${name}_far_qr_link"/>
+ </joint>
+
+ <xacro:qrcode name="${name}_north" parent="${name}_far_qr" code="N1" size="0.07">
+ <origin xyz="0.0501 0.0 0.0" rpy="-1.5707 0 1.5707" />
+ </xacro:qrcode>
+
+ <xacro:qrcode name="${name}_south" parent="${name}_far_qr" code="S1" size="0.07">
+ <origin xyz="-0.0501 0.0 0.0" rpy="-1.5707 0 -1.5707" />
+ </xacro:qrcode>
+
+ <xacro:qrcode name="${name}_west" parent="${name}_far_qr" code="W1" size="0.07">
+ <origin xyz="0.0 0.0501 0.0" rpy="1.5707 3.14159 0" />
+ </xacro:qrcode>
+
+ <xacro:qrcode name="${name}_east" parent="${name}_far_qr" code="E1" size="0.07">
+ <origin xyz="0.0 -0.0501 0.0" rpy="1.5707 3.14159 3.14159 " />
+ </xacro:qrcode>
+
+ <!-- charge station connector -->
+ <link name="${name}_connector_link">
+ <inertial>
+ <mass value="0.10000000"/>
+ <origin xyz="0.00000000 0.00000000 0.000000" rpy="0 0 0"/>
+ <inertia ixx="0.00014464" ixy="0.0" ixz="0.0" iyy="0.00014464" iyz="0.0" izz="0.00028761" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://darwin_description/meshes/charge/connector.stl"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://darwin_description/meshes/charge/connector.stl"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_connector_joint" type="fixed">
+ <origin xyz="0.0 0.0 0.2" rpy="0 0 0"/>
+ <parent link="${name}_support_link"/>
+ <child link="${name}_connector_link"/>
+ </joint>
+
+ <!-- charge station near_qr -->
+ <link name="${name}_near_qr_link">
+ <inertial>
+ <mass value="0.10000000"/>
+ <origin xyz="0.00000000 0.00000000 0.000000" rpy="0 0 0"/>
+ <inertia ixx="0.00008564" ixy="0.0" ixz="0.0" iyy="0.00008564" iyz="0.0" izz="0.00016968" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://darwin_description/meshes/charge/near_qr.stl"/>
+ </geometry>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://darwin_description/meshes/charge/near_qr.stl"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_near_qr_joint" type="fixed">
+ <origin xyz="0.0 0.0 0.3" rpy="0 0 0"/>
+ <parent link="${name}_support_link"/>
+ <child link="${name}_near_qr_link"/>
+ </joint>
+
+ <gazebo reference="${name}_support_link">
+<!-- <gravity>true</gravity>
+ <selfCollide>false</selfCollide>
+ <maxContacts>10</maxContacts>
+ <dampingFactor>0.2</dampingFactor>
+ <maxVel>0.0</maxVel>
+ <minDepth>0.0</minDepth>
+ <mu1>0.200000</mu1>
+ <mu2>0.200000</mu2>
+ <kp>0.0</kp>
+ <kd>0.0</kd>-->
+ </gazebo>
+
+<!-- <gazebo reference="${name}_support_joint">
+ <implicitSpringDamper>true</implicitSpringDamper>
+ <stopCfm>0.0</stopCfm>
+ <stopErp>0.0</stopErp>
+ </gazebo>-->
+
+ </xacro:macro>
+</root>