diff --git a/LICENSE b/LICENSE
index 5a6021d6..ddece84a 100644
--- a/LICENSE
+++ b/LICENSE
@@ -3885,6 +3885,33 @@ License for contents in the directory 'skydio_x2/'
limitations under the License.
+================================================================================
+License for contents in the directory 'stanford_tidybot/'
+================================================================================
+
+MIT License
+
+Copyright (c) 2024 Stanford Interactive Perception and Robot Learning Lab
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+
================================================================================
License for contents in the directory 'trossen_vx300s/'
================================================================================
diff --git a/README.md b/README.md
index 7321ae18..925bca8f 100644
--- a/README.md
+++ b/README.md
@@ -219,6 +219,7 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
| Name | Maker | DoFs | License | MJX |
|------|-------|---------|---------|-----|
| Google Robot | Google DeepMind | 9 | [Apache-2.0](google_robot/LICENSE) |✖️|
+| Stanford TidyBot | Hello Robot | 11 | [MIT](stanford_tidybot/LICENSE) |✖️|
| Stretch 2 | Hello Robot | 17 | [Clear BSD](hello_robot_stretch/LICENSE) |✖️|
| Stretch 3 | Hello Robot | 17 | [Apache-2.0](hello_robot_stretch_3/LICENSE) |✖️|
| PAL Tiago | PAL Robotics | 12 | [Apache-2.0](pal_tiago/LICENSE) |✖️|
diff --git a/stanford_tidybot/LICENSE b/stanford_tidybot/LICENSE
new file mode 100644
index 00000000..d549b0d8
--- /dev/null
+++ b/stanford_tidybot/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 Stanford Interactive Perception and Robot Learning Lab
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/stanford_tidybot/README.md b/stanford_tidybot/README.md
new file mode 100644
index 00000000..e3674721
--- /dev/null
+++ b/stanford_tidybot/README.md
@@ -0,0 +1,37 @@
+# Stanford TidyBot Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 3.1.0 or later.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [Stanford TidyBot](https://tidybot.cs.princeton.edu) developed by Jimmy Wu and collaborators from the [Interactive Perception and Robot Learning Lab](https://iprl.stanford.edu) at Stanford University.
+
+
+
+
+
+
+## MJCF Model
+
+* The mobile base MJCF was created from a CAD model of the base.
+* The Kinova Gen3 MJCF is taken from Menagerie. See [kinova_gen3](../kinova_gen3/).
+* The Robotiq 2F-85 MJCF is taken from Menagerie. See [robotiq_2f85](../robotiq_2f85/).
+
+## License
+
+The TidyBot base is released under an MIT License. The Kinova Gen3 and Robotiq 2F-85 MJCFs retain
+their original licenses. For more information, see the [LICENSE](LICENSE) file.
+
+## Publications
+
+If you use this work in an academic context, please cite the following publication:
+
+```bibtex
+@article{wu2023tidybot,
+ title = {TidyBot: Personalized Robot Assistance with Large Language Models},
+ author = {Wu, Jimmy and Antonova, Rika and Kan, Adam and Lepert, Marion and Zeng, Andy and Song, Shuran and Bohg, Jeannette and Rusinkiewicz, Szymon and Funkhouser, Thomas},
+ journal = {Autonomous Robots},
+ year = {2023}
+}
+```
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+