diff --git a/.gitignore b/.gitignore
new file mode 100644
index 00000000..bc672e4c
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,4 @@
+
+# Python caches
+__pycache__/
+*.py[cod]
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 093fa635..ece144d1 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,10 @@
All notable changes to this repository will be documented here.
+## [2025-08-27]
+
+- Added Kinova Gen3 Lite.
+
## [2025-05-30]
- Added an MJX-tuned version of the G1 model.
diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
index 19be87b7..c95b5a9c 100644
--- a/CONTRIBUTORS.md
+++ b/CONTRIBUTORS.md
@@ -14,7 +14,7 @@ Built by the Google DeepMind team with contributions from the open-source commun
- [Silvia Cruciani](https://github.com/silviacruciani) - Google DeepMind
## Community Contributors
-
+- [Achraf Anas Houssaini](https://github.com/anashoussaini)
- [Albert Li](https://github.com/alberthli)
- [Alper Ahmetoglu](https://github.com/alper111)
- [Andrew Luo](https://github.com/Andrew-Luo1)
@@ -24,6 +24,7 @@ Built by the Google DeepMind team with contributions from the open-source commun
- [Eugene Frizza](https://github.com/eufrizz)
- [Ian Noh](https://github.com/dongridong)
- [Jason Chen](https://github.com/chenxin199305)
+- [Jonathan Lussier](https://github.com/kinovajon)
- [Jonathan Zamora](https://github.com/jonzamora)
- [Kallinteris Andreas](https://github.com/Kallinteris-Andreas)
- [Lev Kozlov](https://github.com/lvjonok)
diff --git a/kinova_gen3_lite/CHANGELOG.md b/kinova_gen3_lite/CHANGELOG.md
new file mode 100644
index 00000000..c666886e
--- /dev/null
+++ b/kinova_gen3_lite/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – Gen3 Lite Description
+
+All notable changes to this model will be documented in this file.
+
+## [2025-27-08]
+- Initial release.
diff --git a/kinova_gen3_lite/LICENSE b/kinova_gen3_lite/LICENSE
new file mode 100644
index 00000000..18c3f29f
--- /dev/null
+++ b/kinova_gen3_lite/LICENSE
@@ -0,0 +1,11 @@
+Copyright (c) 2018, Kinova inc.
+
+Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
\ No newline at end of file
diff --git a/kinova_gen3_lite/README.md b/kinova_gen3_lite/README.md
new file mode 100644
index 00000000..3f7d502e
--- /dev/null
+++ b/kinova_gen3_lite/README.md
@@ -0,0 +1,69 @@
+# Kinova Gen3 Lite Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 2.3.3 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [Kinova
+Gen3 Lite](https://www.kinovarobotics.com/product/gen3-lite-robots) developed by [Kinova Robotics](https://www.kinovarobotics.com/). It is derived from the [publicly
+available URDF description](https://github.com/Kinovarobotics/ros2_kortex/blob/main/kortex_description/robots/gen3_lite.urdf).
+
+
+
+
+
+
+
+
+## MJCF derivation steps
+
+1. Converted xacro to URDF: `rosrun xacro xacro gen3_lite.xacro > gen3_lite.urdf`
+2. Added the following to the URDF's `` clause:
+
+```xml
+
+
+
+```
+
+3. Converted to MJCF:
+
+```python
+import mujoco
+model = mujoco.MjModel.from_xml_path('gen3_lite.urdf')
+mujoco.mj_saveLastXML('gen3_lite_raw.xml', model)
+```
+
+4. Cleaned up the MJCF file as follows:
+
+ * Added physics options: `` and ``.
+ * Replaced `type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1"` with `class="visual"` and added the class to defaults.
+ * Replaced bare `type="mesh"` collision geoms with `class="collision"` and added the class to defaults (including `condim="4"`, `solref="0.005 1"`, `solimp="0.9 0.95 0.001"`).
+ * Added small global joint damping/armature in ``, plus a `grip_joint` default for the gripper.
+ * Standardized mesh filenames to lowercase `.stl` with ``.
+ * Added a tool frame and TCP site: `` with ``.
+ * Implemented an underactuated two-finger gripper using `` couplings and added near-neighbor contact excludes.
+5. Added the following to the MJCF:
+
+ * Position actuators for all six arm joints with per-class gains/limits; a single actuator drives `right_finger_bottom_joint` with the remaining gripper joints coupled.
+ * Keyframes for "home", "retract", "open", and "close".
+6. Added `scene.xml` which includes the robot.
+
+The end effector site can be shifted by an additional `0.12` along the tool frame to emulate certain Kortex TCP conventions:
+
+```xml
+
+```
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).
+
+## Acknowledgement
+
+This model was graciously contributed by [Anas Houssaini](https://anashoussaini.github.io/), [Abed Al Rahman Al Mrad](https://github.com/aalmrad),[Jonathan Lussier](https://github.com/kinovajon).
diff --git a/kinova_gen3_lite/assets/arm_link.stl b/kinova_gen3_lite/assets/arm_link.stl
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diff --git a/kinova_gen3_lite/assets/base_link.stl b/kinova_gen3_lite/assets/base_link.stl
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index 00000000..f861db3d
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diff --git a/kinova_gen3_lite/assets/forearm_link.stl b/kinova_gen3_lite/assets/forearm_link.stl
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diff --git a/kinova_gen3_lite/assets/gen3_lite.png b/kinova_gen3_lite/assets/gen3_lite.png
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diff --git a/kinova_gen3_lite/assets/left_finger_dist_link.stl b/kinova_gen3_lite/assets/left_finger_dist_link.stl
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diff --git a/kinova_gen3_lite/assets/left_finger_prox_link.stl b/kinova_gen3_lite/assets/left_finger_prox_link.stl
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diff --git a/kinova_gen3_lite/assets/lower_wrist_link.stl b/kinova_gen3_lite/assets/lower_wrist_link.stl
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index 00000000..4685f96a
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diff --git a/kinova_gen3_lite/assets/right_finger_dist_link.stl b/kinova_gen3_lite/assets/right_finger_dist_link.stl
new file mode 100644
index 00000000..eb2e844d
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diff --git a/kinova_gen3_lite/assets/right_finger_prox_link.stl b/kinova_gen3_lite/assets/right_finger_prox_link.stl
new file mode 100644
index 00000000..430f1644
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diff --git a/kinova_gen3_lite/assets/shoulder_link.stl b/kinova_gen3_lite/assets/shoulder_link.stl
new file mode 100644
index 00000000..20c2f6d5
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diff --git a/kinova_gen3_lite/assets/upper_wrist_link.stl b/kinova_gen3_lite/assets/upper_wrist_link.stl
new file mode 100644
index 00000000..56197361
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diff --git a/kinova_gen3_lite/gen3_lite.xml b/kinova_gen3_lite/gen3_lite.xml
new file mode 100644
index 00000000..73ad566c
--- /dev/null
+++ b/kinova_gen3_lite/gen3_lite.xml
@@ -0,0 +1,221 @@
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diff --git a/kinova_gen3_lite/scene.xml b/kinova_gen3_lite/scene.xml
new file mode 100644
index 00000000..e2454969
--- /dev/null
+++ b/kinova_gen3_lite/scene.xml
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+