diff --git a/robots/g1_description/README.md b/robots/g1_description/README.md
index 033310d..9665f19 100644
--- a/robots/g1_description/README.md
+++ b/robots/g1_description/README.md
@@ -6,18 +6,20 @@ 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_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     |
+| 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_rev_1_0_with_inspire_hand_DFQ` |       5        |           22.5           | Up-to-date    |   6*2   |     3     |   7*2   |   12*2   |
+| `g1_29dof_rev_1_0_with_inspire_hand_FTP` |       5        |           22.5           | Up-to-date    |   6*2   |     3     |   7*2   |   12*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)