diff --git a/CHANGELOG.md b/CHANGELOG.md
index 61cad35..35d2938 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,6 +4,12 @@ All notable changes to this project will be documented in this file.
 
 ## [Unreleased]
 
+### Added
+
+### Changed
+
+- Update repository for ``gen3_mj_description`` to ``mujoco_menagerie``
+
 ## [1.11.0] - 2024-06-27
 
 ### Added
diff --git a/README.md b/README.md
index bb9356f..4106ffe 100644
--- a/README.md
+++ b/README.md
@@ -136,7 +136,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `fr3_mj_description`          | FR3                   | Franka Robotics          | 7   | MJCF       |
 | `gen2_description`            | Gen2 (Jaco)           | Kinova                   | 6   | URDF       |
 | `gen3_description`            | Gen3 (Jaco)           | Kinova                   | 6   | URDF       |
-| `gen3_mj_description`         | Gen3 (Jaco)           | Kinova                   | 7   | MJCF       |
+| `gen3_mj_description`         | Gen3                  | Kinova                   | 7   | MJCF       |
 | `iiwa14_description`          | iiwa 14               | KUKA                     | 7   | URDF       |
 | `iiwa14_mj_description`       | iiwa 14               | KUKA                     | 7   | MJCF       |
 | `iiwa7_description`           | iiwa 7                | KUKA                     | 7   | URDF       |
diff --git a/robot_descriptions/_repositories.py b/robot_descriptions/_repositories.py
index 0c67476..a895208 100644
--- a/robot_descriptions/_repositories.py
+++ b/robot_descriptions/_repositories.py
@@ -152,7 +152,7 @@ class Repository:
     ),
     "mujoco_menagerie": Repository(
         url="https://github.com/deepmind/mujoco_menagerie.git",
-        commit="bf50a5bd3c0ae757f768893bb06d4595df8e346f",
+        commit="3d593a327ff8d5efd10f4926ccc477820e9252c1",
         cache_path="mujoco_menagerie",
     ),
     "nao_robot": Repository(
diff --git a/robot_descriptions/gen3_mj_description.py b/robot_descriptions/gen3_mj_description.py
index 43596b4..d22ae5b 100644
--- a/robot_descriptions/gen3_mj_description.py
+++ b/robot_descriptions/gen3_mj_description.py
@@ -4,7 +4,7 @@
 # SPDX-License-Identifier: Apache-2.0
 # Copyright 2022 Stéphane Caron
 
-"""Kinova Jaco Gen3 description."""
+"""Kinova Gen3 MJCF description."""
 
 from os import getenv as _getenv
 from os import path as _path
@@ -12,10 +12,10 @@
 from ._cache import clone_to_cache as _clone_to_cache
 
 REPOSITORY_PATH: str = _clone_to_cache(
-    "kinova_mj_description",
+    "mujoco_menagerie",
     commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
 )
 
-PACKAGE_PATH: str = _path.join(REPOSITORY_PATH)
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "kinova_gen3")
 
-MJCF_PATH: str = _path.join(PACKAGE_PATH, "xml", "gen3_7dof_mujoco.xml")
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "gen3.xml")