diff --git a/unitree_sdk2py/idl/unitree_hg/msg/dds_/_HandCmd_.py b/unitree_sdk2py/idl/unitree_hg/msg/dds_/_HandCmd_.py
index a8c74e6..044afcb 100644
--- a/unitree_sdk2py/idl/unitree_hg/msg/dds_/_HandCmd_.py
+++ b/unitree_sdk2py/idl/unitree_hg/msg/dds_/_HandCmd_.py
@@ -23,5 +23,6 @@ import cyclonedds.idl.types as types
 @annotate.autoid("sequential")
 class HandCmd_(idl.IdlStruct, typename="unitree_hg.msg.dds_.HandCmd_"):
     motor_cmd: types.sequence['unitree_sdk2py.idl.unitree_hg.msg.dds_.MotorCmd_']
+    reserve: types.array[types.uint32, 4]
 
 
diff --git a/unitree_sdk2py/idl/unitree_hg/msg/dds_/_HandState_.py b/unitree_sdk2py/idl/unitree_hg/msg/dds_/_HandState_.py
index b4e65d6..351dc75 100644
--- a/unitree_sdk2py/idl/unitree_hg/msg/dds_/_HandState_.py
+++ b/unitree_sdk2py/idl/unitree_hg/msg/dds_/_HandState_.py
@@ -23,10 +23,13 @@ import cyclonedds.idl.types as types
 @annotate.autoid("sequential")
 class HandState_(idl.IdlStruct, typename="unitree_hg.msg.dds_.HandState_"):
     motor_state: types.sequence['unitree_sdk2py.idl.unitree_hg.msg.dds_.MotorState_']
-    imu_state: 'unitree_sdk2py.idl.unitree_hg.msg.dds_.IMUState_'
     press_sensor_state: types.sequence['unitree_sdk2py.idl.unitree_hg.msg.dds_.PressSensorState_']
+    imu_state: 'unitree_sdk2py.idl.unitree_hg.msg.dds_.IMUState_'
     power_v: types.float32
     power_a: types.float32
+    system_v: types.float32
+    device_v: types.float32
+    error: types.array[types.uint32, 2]
     reserve: types.array[types.uint32, 2]
 
 
diff --git a/unitree_sdk2py/idl/unitree_hg/msg/dds_/_PressSensorState_.py b/unitree_sdk2py/idl/unitree_hg/msg/dds_/_PressSensorState_.py
index d260568..7dcf794 100644
--- a/unitree_sdk2py/idl/unitree_hg/msg/dds_/_PressSensorState_.py
+++ b/unitree_sdk2py/idl/unitree_hg/msg/dds_/_PressSensorState_.py
@@ -24,5 +24,7 @@ import cyclonedds.idl.types as types
 class PressSensorState_(idl.IdlStruct, typename="unitree_hg.msg.dds_.PressSensorState_"):
     pressure: types.array[types.float32, 12]
     temperature: types.array[types.float32, 12]
+    lost: types.uint32
+    reserve: types.uint32