diff --git a/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H21.srdf b/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H21.srdf
index 3f267e7..1c3ff95 100644
--- a/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H21.srdf
+++ b/nao_dcm_apps/nao_dcm_moveit_config/config/nao_robot_v4_H21.srdf
@@ -70,6 +70,8 @@
     <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
     <passive_joint name="virtual_joint" />
     <passive_joint name="RHipYawPitch" />
+    <passive_joint name="LHand" />
+    <passive_joint name="RHand" />
     <passive_joint name="LFinger1" />
     <passive_joint name="LFinger1_1" />
     <passive_joint name="LFinger1_2" />