diff --git a/robots/g1_description/README.md b/robots/g1_description/README.md
index 6fe48ce..033310d 100644
--- a/robots/g1_description/README.md
+++ b/robots/g1_description/README.md
@@ -6,17 +6,18 @@ This package includes a universal humanoid robot description (URDF & MJCF) for t
MJCF/URDF for the G1 robot:
-| MJCF/URDF file name | `mode_machine` | Hip roll reduction ratio | Update status | dof#leg | dof#waist | dof#arm | dof#hand |
-| ----------------------------- | :------------: | :----------------------: | ------------- | :-----: | :-------: | :-----: | :------: |
-| `g1_23dof` | 1 | 14.5 | Beta | 6*2 | 1 | 5*2 | 0 |
-| `g1_29dof` | 2 | 14.5 | Beta | 6*2 | 3 | 7*2 | 0 |
-| `g1_29dof_with_hand` | 2 | 14.5 | Beta | 6*2 | 3 | 7*2 | 7*2 |
-| `g1_29dof_lock_waist` | 3 | 14.5 | Beta | 6*2 | 1 | 7*2 | 0 |
-| `g1_23dof_rev_1_0` | 4 | 22.5 | Up-to-date | 6*2 | 1 | 5*2 | 0 |
-| `g1_29dof_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 0 |
-| `g1_29dof_with_hand_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 7*2 |
-| `g1_29dof_lock_waist_rev_1_0` | 6 | 22.5 | Up-to-date | 6*2 | 1 | 7*2 | 0 |
-| `g1_dual_arm` | 9 | null | Up-to-date | 0 | 0 | 7*2 | 0 |
+| MJCF/URDF file name | `mode_machine` | Hip roll reduction ratio | Update status | dof#leg | dof#waist | dof#arm | dof#hand |
+| --------------------------------------- | :------------: | :----------------------: | ------------- | :-----: | :-------: | :-----: | :------: |
+| `g1_23dof_rev_1_0` | 4 | 22.5 | Up-to-date | 6*2 | 1 | 5*2 | 0 |
+| `g1_29dof_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 0 |
+| `g1_29dof_with_hand_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 7*2 |
+| `g1_29dof_lock_waist_rev_1_0` | 6 | 22.5 | Up-to-date | 6*2 | 1 | 7*2 | 0 |
+| `g1_29dof_lock_waist_with_hand_rev_1_0` | 6 | 22.5 | Up-to-date | 6*2 | 1 | 7*2 | 7*2 |
+| `g1_dual_arm` | 9 | null | Up-to-date | 0 | 0 | 7*2 | 0 |
+| `g1_23dof` | 1 | 14.5 | Deprecated | 6*2 | 1 | 5*2 | 0 |
+| `g1_29dof` | 2 | 14.5 | Deprecated | 6*2 | 3 | 7*2 | 0 |
+| `g1_29dof_with_hand` | 2 | 14.5 | Deprecated | 6*2 | 3 | 7*2 | 7*2 |
+| `g1_29dof_lock_waist` | 3 | 14.5 | Deprecated | 6*2 | 1 | 7*2 | 0 |
## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
diff --git a/robots/g1_description/g1_29dof_lock_waist_with_hand_rev_1_0.urdf b/robots/g1_description/g1_29dof_lock_waist_with_hand_rev_1_0.urdf
new file mode 100644
index 0000000..6185a7f
--- /dev/null
+++ b/robots/g1_description/g1_29dof_lock_waist_with_hand_rev_1_0.urdf
@@ -0,0 +1,1476 @@
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diff --git a/robots/g1_description/g1_29dof_lock_waist_with_hand_rev_1_0.xml b/robots/g1_description/g1_29dof_lock_waist_with_hand_rev_1_0.xml
new file mode 100644
index 0000000..09aa13c
--- /dev/null
+++ b/robots/g1_description/g1_29dof_lock_waist_with_hand_rev_1_0.xml
@@ -0,0 +1,398 @@
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