diff --git a/CHANGELOG.md b/CHANGELOG.md
index bf9a9f8..21765b6 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,7 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
+- Description: Ability Hand (MJCF)
 - Description: Ability Hand (URDF)
 - Description: Apptronik Apollo (MJCF)
 
diff --git a/README.md b/README.md
index a8869aa..905f57f 100644
--- a/README.md
+++ b/README.md
@@ -205,7 +205,8 @@ The DOF column denotes the number of actuated degrees of freedom.
 
 | Name                             | Robot                 | Maker                      | Format     | License |
 |----------------------------------|-----------------------|----------------------------|------------|---------|
-| `ability_hand_description`       | Ability Hand          | PSYONIC, Inc.              | URDF       | MIT     |
+| `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)     |
 | `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 7609143..53044a2 100644
--- a/robot_descriptions/_descriptions.py
+++ b/robot_descriptions/_descriptions.py
@@ -51,6 +51,7 @@ def has_urdf(self) -> bool:
     "a1_description": Description(Format.URDF),
     "a1_mj_description": Description(Format.MJCF),
     "ability_hand_description": Description(Format.URDF),
+    "ability_hand_mj_description": Description(Format.MJCF),
     "aliengo_description": Description(Format.URDF),
     "aliengo_mj_description": Description(Format.MJCF),
     "allegro_hand_description": Description(Format.URDF),
diff --git a/robot_descriptions/ability_hand_mj_description.py b/robot_descriptions/ability_hand_mj_description.py
new file mode 100644
index 0000000..e4281e7
--- /dev/null
+++ b/robot_descriptions/ability_hand_mj_description.py
@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Ability Hand 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(
+    "ability-hand-api",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(
+    REPOSITORY_PATH, "python", "ah_simulators", "mujoco_xml"
+)
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "scene.xml")
+
+# Description-specific paths
+
+MJCF_PATH_LEFT_LARGE: str = _path.join(
+    PACKAGE_PATH, "hands", "abh_left_large.xml"
+)
+
+MJCF_PATH_LEFT_SMALL: str = _path.join(
+    PACKAGE_PATH, "hands", "abh_left_small.xml"
+)
+
+MJCF_PATH_RIGHT_LARGE: str = _path.join(
+    PACKAGE_PATH, "hands", "abh_right_large.xml"
+)
+
+MJCF_PATH_RIGHT_SMALL: str = _path.join(
+    PACKAGE_PATH, "hands", "abh_right_small.xml"
+)
diff --git a/robot_descriptions/allegro_hand_mj_description.py b/robot_descriptions/allegro_hand_mj_description.py
index aa7f0bc..0e230e5 100644
--- a/robot_descriptions/allegro_hand_mj_description.py
+++ b/robot_descriptions/allegro_hand_mj_description.py
@@ -19,6 +19,8 @@
 
 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