diff --git a/berkeley_humanoid/LICENSE b/berkeley_humanoid/LICENSE
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+Copyright (c) 2024 Hybrid Robotics
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer.
+
+* 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.
+
+* 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.
diff --git a/berkeley_humanoid/README.md b/berkeley_humanoid/README.md
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+# Berkeley Humanoid Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 2.3.4 or later.
+
+## Overview
+
+This package contains a simplified robot description (MJCF) of the [Berkeley
+Humanoid](https://berkeley-humanoid.com/) developed by the [Hybrid Robotics
+Lab](https://hybrid-robotics.berkeley.edu/) at UC Berkeley. It is derived from the [publicly available URDF description](https://github.com/HybridRobotics/berkeley_humanoid_description).
+
+
+ 
+
+
+## URDF → MJCF derivation steps
+
+1. Manually edited the MJCF to extract common properties into the `` section.
+2. Added a spotlight and tracking light.
+3. Added a site for the IMU.
+4. Added a camera for tracking.
+5. Extracted joint and actuator properties from the [IsaacLab training code](https://github.com/HybridRobotics/isaac_berkeley_humanoid).
+6. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+
+## License
+
+This model is released under a [BSD-3-Clause License](LICENSE).
+
+## Publications
+
+The Berkeley Humanoid is described in the following publication:
+
+```bibtex
+@misc{2407.21781,
+ Author = {Qiayuan Liao and Bike Zhang and Xuanyu Huang and Xiaoyu Huang and Zhongyu Li and Koushil Sreenath},
+ Title = {Berkeley Humanoid: A Research Platform for Learning-based Control},
+ Year = {2024},
+ Eprint = {arXiv:2407.21781},
+}
+```
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diff --git a/berkeley_humanoid/berkeley_humanoid.xml b/berkeley_humanoid/berkeley_humanoid.xml
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diff --git a/berkeley_humanoid/scene.xml b/berkeley_humanoid/scene.xml
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