diff --git a/CHANGELOG.md b/CHANGELOG.md
index dc303c1..2fbf973 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,8 +6,13 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
+- Description: Aero Hand Open (MJCF)
 - Description: Aero Hand Open (URDF)
 
+### Changed
+
+- Update repository commit of MuJoCo Menagerie
+
 ### Fixed
 
 - Update repository of YAM description
diff --git a/README.md b/README.md
index fb30c59..8277c52 100644
--- a/README.md
+++ b/README.md
@@ -215,6 +215,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `ability_hand_description`       | Ability Hand          | PSYONIC, Inc.              | URDF       | [MIT](https://github.com/psyonicinc/ability-hand-api/blob/89407424edfc22faceaedcd7c3ea2b7947cbbb2c/LICENSE)     |
 | `ability_hand_mj_description`    | Ability Hand          | PSYONIC, Inc.              | MJCF       | [MIT](https://github.com/psyonicinc/ability-hand-api/blob/89407424edfc22faceaedcd7c3ea2b7947cbbb2c/LICENSE)     |
 | `aero_hand_open_description`     | Aero Hand Open        | TetherIA                   | URDF       | [Apache-2.0](https://github.com/google-deepmind/mujoco_menagerie/pull/213/commits/6d88dc56029eec7f92e530e1c16283a4b53166e8) |
+| `aero_hand_open_mj_description`  | Aero Hand Open        | TetherIA                   | MJCF       | [Apache-2.0](https://github.com/google-deepmind/mujoco_menagerie/blob/bf756430b615819654b640f321c71ba5c3ebeef8/tetheria_aero_hand_open/LICENSE) |
 | `allegro_hand_description`       | Allegro Hand          | Wonik Robotics             | URDF       | [BSD](https://github.com/RobotLocomotion/models/blob/5c027ea961473cb558da30e1a749272a8a9fa3eb/allegro_hand_description/LICENSE.TXT)     |
 | `allegro_hand_mj_description`    | Allegro Hand          | Wonik Robotics             | MJCF       | [BSD-2-Clause](https://github.com/google-deepmind/mujoco_menagerie/blob/main/wonik_allegro/LICENSE) |
 | `barrett_hand_description`       | BarrettHand           | Barrett Technology         | URDF       | [BSD](https://github.com/jhu-lcsr-attic/bhand_model/blob/937f4186d6458bd682a7dae825fb6f4efe56ec69/manifest.xml) |
diff --git a/robot_descriptions/_descriptions.py b/robot_descriptions/_descriptions.py
index 53864dd..db87c7e 100644
--- a/robot_descriptions/_descriptions.py
+++ b/robot_descriptions/_descriptions.py
@@ -63,6 +63,9 @@ def has_urdf(self) -> bool:
     "aero_hand_open_description": Description(
         Format.URDF, tags={"end_effector"}
     ),
+    "aero_hand_open_mj_description": Description(
+        Format.MJCF, tags={"end_effector"}
+    ),
     "aliengo_description": Description(Format.URDF, tags={"quadruped"}),
     "aliengo_mj_description": Description(Format.MJCF, tags={"quadruped"}),
     "allegro_hand_description": Description(
diff --git a/robot_descriptions/_repositories.py b/robot_descriptions/_repositories.py
index 3e424fb..734c72a 100644
--- a/robot_descriptions/_repositories.py
+++ b/robot_descriptions/_repositories.py
@@ -210,7 +210,7 @@ class Repository:
     ),
     "mujoco_menagerie": Repository(
         url="https://github.com/deepmind/mujoco_menagerie.git",
-        commit="c1503a62496b64222c64ff65dd652d461a5b064e",
+        commit="bf756430b615819654b640f321c71ba5c3ebeef8",
         cache_path="mujoco_menagerie",
     ),
     "nao_robot": Repository(
diff --git a/robot_descriptions/aero_hand_open_mj_description.py b/robot_descriptions/aero_hand_open_mj_description.py
new file mode 100644
index 0000000..81fa449
--- /dev/null
+++ b/robot_descriptions/aero_hand_open_mj_description.py
@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Aero Hand Open MJCF description."""
+
+from os import getenv as _getenv
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache(
+    "mujoco_menagerie",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "tetheria_aero_hand_open")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "right_hand.xml")
+
+# Description-specific paths
+
+MJCF_PATH_LEFT: str = _path.join(PACKAGE_PATH, "left_hand.xml")
+
+MJCF_PATH_RIGHT = MJCF_PATH