diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9ed3bef..8956f7c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,7 @@ All notable changes to this project will be documented in this file.
 ### Changed
 
 - CICD: Disable fail-fast when testing loaders
+- Update `g1_mj_description` to load `g1_with_hands.xml` instead of `g1.xml`
 
 ### Fixed
 
diff --git a/robot_descriptions/_repositories.py b/robot_descriptions/_repositories.py
index 9d17c37..9c379d0 100644
--- a/robot_descriptions/_repositories.py
+++ b/robot_descriptions/_repositories.py
@@ -205,7 +205,7 @@ class Repository:
     ),
     "mujoco_menagerie": Repository(
         url="https://github.com/deepmind/mujoco_menagerie.git",
-        commit="66384c6b8581c811a7b1eb63bcf4fa944fa43602",
+        commit="c1503a62496b64222c64ff65dd652d461a5b064e",
         cache_path="mujoco_menagerie",
     ),
     "nao_robot": Repository(
diff --git a/robot_descriptions/g1_mj_description.py b/robot_descriptions/g1_mj_description.py
index 2460643..c244d90 100644
--- a/robot_descriptions/g1_mj_description.py
+++ b/robot_descriptions/g1_mj_description.py
@@ -19,3 +19,5 @@
 PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "unitree_g1")
 
 MJCF_PATH: str = _path.join(PACKAGE_PATH, "g1.xml")
+
+MJCF_PATH_WITH_HANDS: str = _path.join(PACKAGE_PATH, "g1_with_hands.xml")