diff --git a/robots/g1_description/README.md b/robots/g1_description/README.md
index e4684ea..6fe48ce 100644
--- a/robots/g1_description/README.md
+++ b/robots/g1_description/README.md
@@ -6,17 +6,17 @@ 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 |
-| ----------------------------- | :------------: | :----------------------: | ------------- |
-| `g1_23dof`                    |       1        |           14.5           | Beta          |
-| `g1_29dof`                    |       2        |           14.5           | Beta          |
-| `g1_29dof_with_hand`          |       2        |           14.5           | Beta          |
-| `g1_29dof_lock_waist`         |       3        |           14.5           | Beta          |
-| `g1_23dof_rev_1_0`            |       4        |           22.5           | Up-to-date    |
-| `g1_29dof_rev_1_0`            |       5        |           22.5           | Up-to-date    |
-| `g1_29dof_with_hand_rev_1_0`  |       5        |           22.5           | Up-to-date    |
-| `g1_29dof_lock_waist_rev_1_0` |       6        |           22.5           | Up-to-date    |
-| `g1_dual_arm`                 |       9        |           null           | Up-to-date    |
+| 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     |
 
 ## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)