diff --git a/robots/h1_description/mjcf/h1.xml b/robots/h1_description/mjcf/h1.xml
index 903aaf7..2a555ed 100644
--- a/robots/h1_description/mjcf/h1.xml
+++ b/robots/h1_description/mjcf/h1.xml
@@ -64,7 +64,7 @@
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@@ -99,7 +99,7 @@
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diff --git a/robots/h1_description/mjcf/h1_with_hand.xml b/robots/h1_description/mjcf/h1_with_hand.xml
new file mode 100644
index 0000000..63187f4
--- /dev/null
+++ b/robots/h1_description/mjcf/h1_with_hand.xml
@@ -0,0 +1,416 @@
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