diff --git a/robot_descriptions/_descriptions.py b/robot_descriptions/_descriptions.py
index 044a344..23d2add 100644
--- a/robot_descriptions/_descriptions.py
+++ b/robot_descriptions/_descriptions.py
@@ -172,6 +172,7 @@ def has_urdf(self) -> bool:
     "pr2_description": Description(
         Format.URDF, tags={"dual_arm", "mobile_manipulator"}
     ),
+    "r1_description": Description(Format.URDF, tags={"mobile_manipulator"}),
     "r2_description": Description(Format.URDF, tags={"humanoid"}),
     "rby1_description": Description(Format.URDF, tags={"mobile_manipulator"}),
     "reachy_description": Description(
diff --git a/robot_descriptions/_repositories.py b/robot_descriptions/_repositories.py
index 6b65ad5..264ff34 100644
--- a/robot_descriptions/_repositories.py
+++ b/robot_descriptions/_repositories.py
@@ -135,6 +135,11 @@ class Repository:
         commit="d12af44559cd7e46f7afd513237f159f82f8402e",
         cache_path="fanuc_m710ic_description",
     ),
+    "galaxea": Repository(
+        url="git@github.com:userguide-galaxea/URDF.git",
+        commit="40f728d49ef3799721d5d566a07efbb70cae6b53",
+        cache_path="galaxea",
+    ),
     "GingerURDF": Repository(
         url="https://github.com/Rayckey/GingerURDF.git",
         commit="6a1307cd0ee2b77c82f8839cdce3a2e2eed2bd8f",
diff --git a/robot_descriptions/r1_description.py b/robot_descriptions/r1_description.py
new file mode 100644
index 0000000..a6389c0
--- /dev/null
+++ b/robot_descriptions/r1_description.py
@@ -0,0 +1,23 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2022 Stéphane Caron
+
+"""Fetch description."""
+
+from os import getenv as _getenv
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache(
+    "galaxea",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(
+    REPOSITORY_PATH, "R1"
+)
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "r1_v2_1_0.urdf")