diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
index 19be87b7..4a24eff3 100644
--- a/CONTRIBUTORS.md
+++ b/CONTRIBUTORS.md
@@ -31,6 +31,7 @@ Built by the Google DeepMind team with contributions from the open-source commun
- [Louis Le Lay](https://github.com/louislelay)
- [Martin Günther](https://github.com/muhrix)
- [Mohamed Fazil](https://github.com/hello-fazil)
+- [Nan Wang](https://github.com/Nan-Tetheria)
- [Nikita Cherniadev](https://github.com/chernyadev)
- [Omar Rayyan](https://github.com/omarrayyann)
- [Sai Kishor Kothakota](https://github.com/saikishor)
diff --git a/tetheria_aero_hand_open/CHANGELOG.md b/tetheria_aero_hand_open/CHANGELOG.md
new file mode 100644
index 00000000..164f9850
--- /dev/null
+++ b/tetheria_aero_hand_open/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – Tetheria Aero Hand Open
+
+All notable changes to this model will be documented in this file.
+
+## [2025-10-08]
+- Initial release.
diff --git a/tetheria_aero_hand_open/LICENSE b/tetheria_aero_hand_open/LICENSE
new file mode 100644
index 00000000..f85aa0dc
--- /dev/null
+++ b/tetheria_aero_hand_open/LICENSE
@@ -0,0 +1,202 @@
+
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
+ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+ 1. Definitions.
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+ 5. Submission of Contributions. Unless You explicitly state otherwise,
+ any Contribution intentionally submitted for inclusion in the Work
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+ Notwithstanding the above, nothing herein shall supersede or modify
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+ 6. Trademarks. This License does not grant permission to use the trade
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+ 7. Disclaimer of Warranty. Unless required by applicable law or
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+ 9. Accepting Warranty or Additional Liability. While redistributing
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+ END OF TERMS AND CONDITIONS
+
+ APPENDIX: How to apply the Apache License to your work.
+
+ To apply the Apache License to your work, attach the following
+ boilerplate notice, with the fields enclosed by brackets "[]"
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+ Copyright 2025 TetherIA Inc.
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
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diff --git a/tetheria_aero_hand_open/README.md b/tetheria_aero_hand_open/README.md
new file mode 100644
index 00000000..cbd90978
--- /dev/null
+++ b/tetheria_aero_hand_open/README.md
@@ -0,0 +1,28 @@
+# Tetheria Aero Hand Open (MJCF)
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+## Overview
+
+This package contains a **tendon-driven** robotic hand model for MuJoCo manipulation tasks. The Tetheria Hand features accurate cable-driven actuation with spatial tendons, springs, and pulleys that match the real hand's mechanical design.
+
+
+
+
+
+## URDF → MJCF derivation steps
+- Use `mjcf.from_path` to load the URDF file, and export the initial MJCF model with `mjcf.export_with_assets`.
+- Manually define simplified collision geometries.
+- Exclude unwanted collisions between specific geometries.
+- Design pulley elements to represent the cable routing in the hand.
+- Define tendons that follow the cable paths and wrap around the pulleys.
+- Add springs with the same specifications as those used in the *Aero Hand Open*.
+- Implement position actuators for the tendons and the hand’s abduction joint, setting parameters (e.g., armature) to match the motors from the *Aero Hand Open*.
+- Adjust stiffness, damping, and actuator gains to reproduce dynamics similar to the *Aero Hand Open*.
+
+## License
+
+These models are released under an [Apache-2.0 License](LICENSE).
\ No newline at end of file
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new file mode 100644
index 00000000..e42ebfc2
--- /dev/null
+++ b/tetheria_aero_hand_open/assets/dex_cube.obj
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+# Blender v3.0.1 OBJ File: 'dex_cube.blend'
+# www.blender.org
+mtllib dex_cube.mtl
+o Cube_Cube.002
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diff --git a/tetheria_aero_hand_open/left_hand.xml b/tetheria_aero_hand_open/left_hand.xml
new file mode 100644
index 00000000..76f2b881
--- /dev/null
+++ b/tetheria_aero_hand_open/left_hand.xml
@@ -0,0 +1,593 @@
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\ No newline at end of file
diff --git a/tetheria_aero_hand_open/right_hand.xml b/tetheria_aero_hand_open/right_hand.xml
new file mode 100644
index 00000000..822b817c
--- /dev/null
+++ b/tetheria_aero_hand_open/right_hand.xml
@@ -0,0 +1,750 @@
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\ No newline at end of file
diff --git a/tetheria_aero_hand_open/scene_right.xml b/tetheria_aero_hand_open/scene_right.xml
new file mode 100644
index 00000000..4d1142d9
--- /dev/null
+++ b/tetheria_aero_hand_open/scene_right.xml
@@ -0,0 +1,36 @@
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\ No newline at end of file
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