diff --git a/README.md b/README.md
index eca7afb0..bcab6421 100644
--- a/README.md
+++ b/README.md
@@ -218,6 +218,8 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 | Google Robot | Google DeepMind | 9 | [Apache-2.0](google_robot/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) |✖️|
+| PAL Tiago Dual | PAL Robotics | 21 | [Apache-2.0](pal_tiago_dual/LICENSE) |✖️|
 
 **Humanoids.**
 
diff --git a/pal_tiago/LICENSE b/pal_tiago/LICENSE
new file mode 100644
index 00000000..261eeb9e
--- /dev/null
+++ b/pal_tiago/LICENSE
@@ -0,0 +1,201 @@
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diff --git a/pal_tiago/README.md b/pal_tiago/README.md
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+## TIAGo Description (MJCF)
+
+Requires MuJoCo 2.2.2 or later.
+
+### Overiew
+
+This package contains a simplified robot description (MJCF) of the [TIAGo Robot](https://pal-robotics.com/robots/tiago/) by [PAL Robotics](https://pal-robotics.com/). It is derived from the publicy available [URDF description](https://github.com/pal-robotics/tiago_robot/blob/kinetic-devel/tiago_description). 
+
+<p float="left">
+  <img src="tiago.png" width="400">
+</p>
+
+
+### URDF -> MJCF derivation steps
+
+ 1. Converted the .DAE meshes to .STL format
+ 2.  Added   `<mujoco>  <compiler meshdir="../meshes/" strippath="false"balanceinertia="true" 		autolimits="true" discardvisual="false"/> </mujoco>` to the URDF in order to preserve visual geometries and configure other [parameters](https://mujoco.readthedocs.io/en/stable/XMLreference.html#compiler).
+ 3.  Removed all `<collision>` elements in the URDF that created a bug with geometries.
+ 4. Removed `package://` shortcuts and fixed file paths to use assets only from the local `assets` folder. 
+ 5.  Used the MuJoCo compiler with `compile` command to convert the URDF file to MJCF  format.
+ 6. Added a free joint `<joint  name="reference"  type="free"/>` to the base and fixed the body tree by adding `<body  name="base_link"  pos="0 0 0"></body>` around the base geom.
+ 7. Added `<inertial  pos="0 0 0"  mass="28.26649"  fullinertia="0.465408937 0.483193291 0.550939703 0.002160024 -0.001760255 -0.000655952"/>` base inertia that was not automatically converted.
+ 8. Added force, velocity and position controlled actuators (manually) .
+ 9. Added `home` keyframe
+ 10. Added visuals improvements: plane, skybox and light. 
+ 11.  Added contact `<exclude>` to prevent unwanted collisions between some of the bodies.
+ 12. Added `scene_position.xml`, `scene_velocity.xml` and `scene_motor.xml` which allows to control the arms of the robot in different control modes and which also includes the robot, with a textured groundplane, skybox, and haze.
+
+
+### License
+
+This model is released under an [Apache-2.0 License](LICENSE).
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diff --git a/pal_tiago/assets/gripper_link.stl b/pal_tiago/assets/gripper_link.stl
new file mode 100644
index 00000000..e4e990d3
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diff --git a/pal_tiago/assets/gripper_link_collision.stl b/pal_tiago/assets/gripper_link_collision.stl
new file mode 100644
index 00000000..1bcfe4ea
Binary files /dev/null and b/pal_tiago/assets/gripper_link_collision.stl differ
diff --git a/pal_tiago/assets/head/head_1.stl b/pal_tiago/assets/head/head_1.stl
new file mode 100644
index 00000000..4df48f66
Binary files /dev/null and b/pal_tiago/assets/head/head_1.stl differ
diff --git a/pal_tiago/assets/head/head_1_collision.stl b/pal_tiago/assets/head/head_1_collision.stl
new file mode 100644
index 00000000..7b36d1e3
Binary files /dev/null and b/pal_tiago/assets/head/head_1_collision.stl differ
diff --git a/pal_tiago/assets/head/head_2.stl b/pal_tiago/assets/head/head_2.stl
new file mode 100644
index 00000000..c0c6a150
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diff --git a/pal_tiago/assets/head/head_2_collision.stl b/pal_tiago/assets/head/head_2_collision.stl
new file mode 100644
index 00000000..09d00f7e
Binary files /dev/null and b/pal_tiago/assets/head/head_2_collision.stl differ
diff --git a/pal_tiago/assets/objects/antenna.stl b/pal_tiago/assets/objects/antenna.stl
new file mode 100755
index 00000000..431e6a2d
Binary files /dev/null and b/pal_tiago/assets/objects/antenna.stl differ
diff --git a/pal_tiago/assets/objects/cover.stl b/pal_tiago/assets/objects/cover.stl
new file mode 100644
index 00000000..7a789d59
Binary files /dev/null and b/pal_tiago/assets/objects/cover.stl differ
diff --git a/pal_tiago/assets/objects/high_resolution/cover.stl b/pal_tiago/assets/objects/high_resolution/cover.stl
new file mode 100644
index 00000000..7a789d59
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diff --git a/pal_tiago/assets/palm.stl b/pal_tiago/assets/palm.stl
new file mode 100644
index 00000000..4ef69e12
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diff --git a/pal_tiago/assets/palm_collision.stl b/pal_tiago/assets/palm_collision.stl
new file mode 100644
index 00000000..dde281c4
Binary files /dev/null and b/pal_tiago/assets/palm_collision.stl differ
diff --git a/pal_tiago/assets/sensors/bumper.stl b/pal_tiago/assets/sensors/bumper.stl
new file mode 100644
index 00000000..a22653d7
Binary files /dev/null and b/pal_tiago/assets/sensors/bumper.stl differ
diff --git a/pal_tiago/assets/sensors/bumper_collision.stl b/pal_tiago/assets/sensors/bumper_collision.stl
new file mode 100644
index 00000000..636ccf77
Binary files /dev/null and b/pal_tiago/assets/sensors/bumper_collision.stl differ
diff --git a/pal_tiago/assets/sensors/elp_camera.stl b/pal_tiago/assets/sensors/elp_camera.stl
new file mode 100644
index 00000000..2999817e
Binary files /dev/null and b/pal_tiago/assets/sensors/elp_camera.stl differ
diff --git a/pal_tiago/assets/sensors/hokuyo_urg_04lx_ug01.stl b/pal_tiago/assets/sensors/hokuyo_urg_04lx_ug01.stl
new file mode 100644
index 00000000..f6d27d08
Binary files /dev/null and b/pal_tiago/assets/sensors/hokuyo_urg_04lx_ug01.stl differ
diff --git a/pal_tiago/assets/sensors/sick_tim551.stl b/pal_tiago/assets/sensors/sick_tim551.stl
new file mode 100644
index 00000000..960b8412
Binary files /dev/null and b/pal_tiago/assets/sensors/sick_tim551.stl differ
diff --git a/pal_tiago/assets/sensors/srf05.stl b/pal_tiago/assets/sensors/srf05.stl
new file mode 100644
index 00000000..566c942f
Binary files /dev/null and b/pal_tiago/assets/sensors/srf05.stl differ
diff --git a/pal_tiago/assets/sensors/structure_sensor.stl b/pal_tiago/assets/sensors/structure_sensor.stl
new file mode 100644
index 00000000..cdfc72f0
Binary files /dev/null and b/pal_tiago/assets/sensors/structure_sensor.stl differ
diff --git a/pal_tiago/assets/sensors/xtion_pro_live/xtion_pro_live.png b/pal_tiago/assets/sensors/xtion_pro_live/xtion_pro_live.png
new file mode 100644
index 00000000..b51bb875
Binary files /dev/null and b/pal_tiago/assets/sensors/xtion_pro_live/xtion_pro_live.png differ
diff --git a/pal_tiago/assets/thumb_abd_collision.stl b/pal_tiago/assets/thumb_abd_collision.stl
new file mode 100644
index 00000000..91994f75
Binary files /dev/null and b/pal_tiago/assets/thumb_abd_collision.stl differ
diff --git a/pal_tiago/assets/torso/torso_fix.stl b/pal_tiago/assets/torso/torso_fix.stl
new file mode 100644
index 00000000..31604201
Binary files /dev/null and b/pal_tiago/assets/torso/torso_fix.stl differ
diff --git a/pal_tiago/assets/torso/torso_lift_collision.stl b/pal_tiago/assets/torso/torso_lift_collision.stl
new file mode 100644
index 00000000..1c8ad0e5
Binary files /dev/null and b/pal_tiago/assets/torso/torso_lift_collision.stl differ
diff --git a/pal_tiago/assets/torso/torso_lift_collision_core.stl b/pal_tiago/assets/torso/torso_lift_collision_core.stl
new file mode 100644
index 00000000..6c4047c6
Binary files /dev/null and b/pal_tiago/assets/torso/torso_lift_collision_core.stl differ
diff --git a/pal_tiago/assets/torso/torso_lift_collision_neck.stl b/pal_tiago/assets/torso/torso_lift_collision_neck.stl
new file mode 100644
index 00000000..dd334bf4
Binary files /dev/null and b/pal_tiago/assets/torso/torso_lift_collision_neck.stl differ
diff --git a/pal_tiago/assets/torso/torso_lift_collision_shoulder.stl b/pal_tiago/assets/torso/torso_lift_collision_shoulder.stl
new file mode 100644
index 00000000..e0fb3ec6
Binary files /dev/null and b/pal_tiago/assets/torso/torso_lift_collision_shoulder.stl differ
diff --git a/pal_tiago/assets/torso/torso_lift_with_arm.stl b/pal_tiago/assets/torso/torso_lift_with_arm.stl
new file mode 100644
index 00000000..187ea47b
Binary files /dev/null and b/pal_tiago/assets/torso/torso_lift_with_arm.stl differ
diff --git a/pal_tiago/assets/torso/torso_lift_without_arm.stl b/pal_tiago/assets/torso/torso_lift_without_arm.stl
new file mode 100644
index 00000000..56fcc78e
Binary files /dev/null and b/pal_tiago/assets/torso/torso_lift_without_arm.stl differ
diff --git a/pal_tiago/assets/wheels/caster_1.stl b/pal_tiago/assets/wheels/caster_1.stl
new file mode 100644
index 00000000..78c9e3b1
Binary files /dev/null and b/pal_tiago/assets/wheels/caster_1.stl differ
diff --git a/pal_tiago/assets/wheels/caster_2.stl b/pal_tiago/assets/wheels/caster_2.stl
new file mode 100644
index 00000000..1628f529
Binary files /dev/null and b/pal_tiago/assets/wheels/caster_2.stl differ
diff --git a/pal_tiago/assets/wheels/high_resolution/caster_1.stl b/pal_tiago/assets/wheels/high_resolution/caster_1.stl
new file mode 100644
index 00000000..c31c19d9
Binary files /dev/null and b/pal_tiago/assets/wheels/high_resolution/caster_1.stl differ
diff --git a/pal_tiago/assets/wheels/high_resolution/caster_2.stl b/pal_tiago/assets/wheels/high_resolution/caster_2.stl
new file mode 100644
index 00000000..9734a23a
Binary files /dev/null and b/pal_tiago/assets/wheels/high_resolution/caster_2.stl differ
diff --git a/pal_tiago/assets/wheels/high_resolution/wheel.stl b/pal_tiago/assets/wheels/high_resolution/wheel.stl
new file mode 100644
index 00000000..7863cf06
Binary files /dev/null and b/pal_tiago/assets/wheels/high_resolution/wheel.stl differ
diff --git a/pal_tiago/assets/wheels/wheel.stl b/pal_tiago/assets/wheels/wheel.stl
new file mode 100644
index 00000000..71f9a4b2
Binary files /dev/null and b/pal_tiago/assets/wheels/wheel.stl differ
diff --git a/pal_tiago/scene_motor.xml b/pal_tiago/scene_motor.xml
new file mode 100644
index 00000000..3bf49aba
--- /dev/null
+++ b/pal_tiago/scene_motor.xml
@@ -0,0 +1,24 @@
+<mujoco model="tiago motor scene">
+
+  <include file="tiago_motor.xml"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="150" elevation="-20" realtime="1"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8"
+      type="2d" width="200"/>
+    <material name="MatPlane" reflectance="0.1" shininess="0.4" specular="1" texrepeat="5 5" texuniform="true"
+      texture="texplane"/>
+  </asset>
+
+  <worldbody>
+    <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 10"/>
+    <geom name="floor" pos="0 0 -0.99" size="0 0 1" type="plane" material="MatPlane" contype="1" conaffinity="1"/>
+  </worldbody>
+
+</mujoco>
diff --git a/pal_tiago/scene_position.xml b/pal_tiago/scene_position.xml
new file mode 100644
index 00000000..3dd2ba75
--- /dev/null
+++ b/pal_tiago/scene_position.xml
@@ -0,0 +1,24 @@
+<mujoco model="tiago position scene">
+
+  <include file="tiago_position.xml"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="150" elevation="-20" realtime="1"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8"
+      type="2d" width="200"/>
+    <material name="MatPlane" reflectance="0.1" shininess="0.4" specular="1" texrepeat="5 5" texuniform="true"
+      texture="texplane"/>
+  </asset>
+
+  <worldbody>
+    <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 10"/>
+    <geom name="floor" pos="0 0 -0.99" size="0 0 1" type="plane" material="MatPlane" contype="1" conaffinity="1"/>
+  </worldbody>
+
+</mujoco>
diff --git a/pal_tiago/scene_velocity.xml b/pal_tiago/scene_velocity.xml
new file mode 100644
index 00000000..9f3a93b4
--- /dev/null
+++ b/pal_tiago/scene_velocity.xml
@@ -0,0 +1,24 @@
+<mujoco model="tiago velocity scene">
+
+  <include file="tiago_velocity.xml"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="150" elevation="-20" realtime="1"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8"
+      type="2d" width="200"/>
+    <material name="MatPlane" reflectance="0.1" shininess="0.4" specular="1" texrepeat="5 5" texuniform="true"
+      texture="texplane"/>
+  </asset>
+
+  <worldbody>
+    <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 10"/>
+    <geom name="floor" pos="0 0 -0.99" size="0 0 1" type="plane" material="MatPlane" contype="1" conaffinity="1"/>
+  </worldbody>
+
+</mujoco>
diff --git a/pal_tiago/tiago.png b/pal_tiago/tiago.png
new file mode 100644
index 00000000..a7eb8566
Binary files /dev/null and b/pal_tiago/tiago.png differ
diff --git a/pal_tiago/tiago.xml b/pal_tiago/tiago.xml
new file mode 100644
index 00000000..3469a29a
--- /dev/null
+++ b/pal_tiago/tiago.xml
@@ -0,0 +1,193 @@
+<mujoco model="tiago">
+
+  <compiler angle="radian" meshdir="./assets/" autolimits="true" fusestatic="true"/>
+
+  <option integrator="implicitfast"/>
+
+  <asset>
+    <material name="black" rgba="0 0 0 1"/>
+    <material name="gray10" rgba="0.1 0.1 0.1 1"/>
+    <material name="gray70" rgba="0.7 0.7 0.7 1"/>
+    <material name="mercury" rgba="0.9 0.9 0.9 1"/>
+    <material name="white" rgba="1 1 1 1"/>
+    <material name="orange" rgba="1 0.487 0 1"/>
+
+    <mesh file="sensors/sick_tim551.stl"/>
+    <mesh file="sensors/srf05.stl"/>
+    <mesh file="base/base.stl"/>
+    <mesh file="base/base_ring.stl"/>
+    <mesh file="objects/antenna.stl"/>
+    <mesh file="wheels/wheel.stl"/>
+    <mesh file="wheels/caster_1.stl"/>
+    <mesh file="wheels/caster_2.stl"/>
+    <mesh file="torso/torso_fix.stl"/>
+    <mesh file="torso/torso_lift_with_arm.stl"/>
+    <mesh file="head/head_1.stl"/>
+    <mesh file="head/head_2.stl"/>
+    <mesh file="arm/arm_1.stl"/>
+    <mesh file="arm/arm_2.stl"/>
+    <mesh file="arm/arm_3.stl"/>
+    <mesh file="arm/arm_4.stl"/>
+    <mesh file="arm/arm_5-wrist-2017.stl"/>
+    <mesh file="arm/arm_6-wrist-2017.stl"/>
+    <mesh file="gripper_link.stl"/>
+    <mesh file="gripper_finger_link.stl" scale="-1 -1 1"/>
+    <mesh file="gripper_finger_link1.stl"/>
+  </asset>
+
+  <default>
+    <geom contype="0" conaffinity="1" group="1" type="mesh" mass="0"/>
+    <joint axis="0 0 1"/>
+    <default class="arm">
+      <geom contype="1" conaffinity="1"/>
+      <joint frictionloss="1"/>
+    </default>
+    <default class="wheel">
+      <geom condim="6"/>
+    </default>
+  </default>
+
+  <worldbody>
+    <body name="base_link">
+      <joint name="reference" type="free"/>
+      <geom pos="0 0 0.0985" material="white" mesh="base"/>
+      <geom pos="0.202 0 0.0945" material="gray10" mesh="sick_tim551"/>
+      <geom pos="-0.183 0.183 0.2715" quat="0.382683 0 0 0.92388" material="gray10" mesh="srf05"/>
+      <geom pos="-0.259 0 0.2715" quat="0 0 0 1" material="gray10" mesh="srf05"/>
+      <geom pos="-0.183 -0.183 0.2715" quat="-0.382683 0 0 0.92388" material="gray10" mesh="srf05"/>
+      <geom pos="-0.201 0.1062 0.2935" material="black" mesh="antenna"/>
+      <geom pos="-0.201 -0.1062 0.2935" material="black" mesh="antenna"/>
+      <geom pos="-0.062 0 0.2915" material="mercury" mesh="torso_fix"/>
+      <geom size="0.09 0.1 0.275" pos="-0.062 0 0.5685" type="box" material="gray10"/>
+      <geom pos="0 0 0.13" material="orange" mesh="base_ring"/>
+      <inertial pos="-0.01 -0.002 0.131" mass="47.112" diaginertia="2.074 2.245 0.897"/>
+      <body name="wheel_right_link" pos="0 -0.2022 0.0985" quat="1 -1 0 0">
+        <inertial pos="0.0 0.0 0.0" mass="4.4" diaginertia="0.014 0.014 0.027"/>
+        <joint name="wheel_right_joint"/>
+        <geom material="gray10" mesh="wheel"/>
+      </body>
+      <body name="wheel_left_link" pos="0 0.2022 0.0985" quat="1 -1 0 0">
+        <inertial pos="0.0 0.0 0.0" mass="4.4" diaginertia="0.014 0.014 0.027"/>
+        <joint name="wheel_left_joint"/>
+        <geom quat="0 -1 0 0" material="gray10" mesh="wheel"/>
+      </body>
+      <body name="caster_front_right_1_link" pos="0.1695 -0.102 0.065" childclass="wheel">
+        <inertial pos="-0.00634599 5.347e-05 -0.0203752" quat="0.966491 -0.00340536 -0.256544 -0.00828025"
+          mass="0.0514476" diaginertia="1.66556e-05 1.30896e-05 1.04548e-05"/>
+        <joint name="caster_front_right_1_joint" damping="0.5"/>
+        <geom material="gray70" mesh="caster_1"/>
+        <body name="caster_front_right_2_link" pos="-0.016 0 -0.04" quat="1 -1 0 0">
+          <inertial pos="0 0 0" quat="1 0 0 1" mass="0.0885578" diaginertia="1.541e-05 1.075e-05 1.075e-05"/>
+          <joint name="caster_front_right_2_joint"/>
+          <geom material="gray10" mesh="caster_2"/>
+        </body>
+      </body>
+      <body name="caster_front_left_1_link" pos="0.1695 0.102 0.065" childclass="wheel">
+        <inertial pos="-0.00634599 5.347e-05 -0.0203752" quat="0.966491 -0.00340536 -0.256544 -0.00828025"
+          mass="0.0514476" diaginertia="1.66556e-05 1.30896e-05 1.04548e-05"/>
+        <joint name="caster_front_left_1_joint" damping="0.5"/>
+        <geom material="gray70" mesh="caster_1"/>
+        <body name="caster_front_left_2_link" pos="-0.016 0 -0.04" quat="1 -1 0 0">
+          <inertial pos="0 0 0" quat="1 0 0 1" mass="0.0885578" diaginertia="1.541e-05 1.075e-05 1.075e-05"/>
+          <joint name="caster_front_left_2_joint"/>
+          <geom material="gray10" mesh="caster_2"/>
+        </body>
+      </body>
+      <body name="caster_back_right_1_link" pos="-0.1735 -0.102 0.065" childclass="wheel">
+        <inertial pos="-0.00634599 5.347e-05 -0.0203752" quat="0.966491 -0.00340536 -0.256544 -0.00828025"
+          mass="0.0514476" diaginertia="1.66556e-05 1.30896e-05 1.04548e-05"/>
+        <joint name="caster_back_right_1_joint" damping="0.5"/>
+        <geom material="gray70" mesh="caster_1"/>
+        <body name="caster_back_right_2_link" pos="-0.016 0 -0.04" quat="1 -1 0 0">
+          <inertial pos="0 0 0" quat="1 0 0 1" mass="0.0885578" diaginertia="1.541e-05 1.075e-05 1.075e-05"/>
+          <joint name="caster_back_right_2_joint"/>
+          <geom material="gray10" mesh="caster_2"/>
+        </body>
+      </body>
+      <body name="caster_back_left_1_link" pos="-0.1735 0.102 0.065" childclass="wheel">
+        <inertial pos="-0.00634599 5.347e-05 -0.0203752" quat="0.966491 -0.00340536 -0.256544 -0.00828025"
+          mass="0.0514476" diaginertia="1.66556e-05 1.30896e-05 1.04548e-05"/>
+        <joint name="caster_back_left_1_joint" damping="0.5"/>
+        <geom material="gray70" mesh="caster_1"/>
+        <body name="caster_back_left_2_link" pos="-0.016 0 -0.04" quat="1 -1 0 0">
+          <inertial pos="0 0 0" quat="1 0 0 1" mass="0.0885578" diaginertia="1.541e-05 1.075e-05 1.075e-05"/>
+          <joint name="caster_back_left_2_joint"/>
+          <geom material="gray10" mesh="caster_2"/>
+        </body>
+      </body>
+      <body name="torso_lift_link" pos="-0.062 0 0.8885">
+        <inertial pos="0.031711 -0.001004 -0.187315" mass="6.281737" diaginertia="0.230972 0.235034 0.080705"/>
+        <joint name="torso_lift_joint" type="slide" range="0 0.35" damping="2000"/>
+        <geom material="white" mesh="torso_lift_with_arm"/>
+        <body name="head_1_link" pos="0.182 0 0">
+          <inertial pos="-0.00508 0.00237 0.07229" mass="0.6222" diaginertia="0.00140223 0.00121968 0.000861083"/>
+          <joint name="head_1_joint" range="-1.309 1.309" damping="0.5"/>
+          <geom material="white" mesh="head_1"/>
+          <body name="head_2_link" pos="0.005 0 0.098" quat="1 1 0 0">
+            <inertial pos="0.0558274 0.0609987 1.58542e-05" mass="0.88693" diaginertia="0.00554181 0.00436261 0.00347586"/>
+            <joint name="head_2_joint" range="-1.0472 0.785398" damping="0.5"/>
+            <geom material="white" mesh="head_2"/>
+            <camera name="head_camera" pos="0.0908 0.08 0.0" mode="fixed" euler="0 -1.57 0"
+                            fovy="45.5" resolution="640 480"/>
+          </body>
+        </body>
+        <body name="arm_1_link" pos="0.15505 0.014 -0.151" quat="1 0 0 -1" childclass="arm">
+          <inertial pos="0.061191 -0.022397 -0.012835" mass="1.56343" diaginertia="0.00510233 0.00510233 0.00510233"/>
+          <joint name="arm_1_joint" range="0 2.74889" damping="10"/>
+          <geom material="white" mesh="arm_1"/>
+          <body name="arm_2_link" pos="0.125 0.0195 -0.031" quat="1 1 0 0">
+            <inertial pos="0.030432 0.000229 -0.005942" mass="1.8004" diaginertia="0.00437229 0.00432701 0.0017837"/>
+            <joint name="arm_2_joint" range="-1.5708 1.09083" damping="10"/>
+            <geom material="gray10" mesh="arm_2"/>
+            <body name="arm_3_link" pos="0.0895 0 -0.0015" quat="0.5 -0.5 -0.5 0.5">
+              <inertial pos="0.007418 -0.004361 -0.134194" mass="1.8" diaginertia="0.0200771 0.0196154 0.00264853"/>
+              <joint name="arm_3_joint" range="-3.53429 1.5708" damping="10"/>
+              <geom material="gray10" mesh="arm_3"/>
+              <body name="arm_4_link" pos="-0.02 -0.027 -0.222" quat="0.5 -0.5 -0.5 -0.5">
+                <inertial pos="-0.095658 0.014666 0.018133" mass="1.4327" diaginertia="0.002040 0.008424 0.008686"/>
+                <joint name="arm_4_joint" range="-0.392699 2.35619" damping="10"/>
+                <geom material="gray10" mesh="arm_4"/>
+                <body name="arm_5_link" pos="-0.162 0.02 0.027" quat="1 0 -1 0">
+                  <inertial pos="0.001078 -0.000151 -0.077173" mass="0.935914" diaginertia="0.00103619 0.000794527 0.000439824"/>
+                  <joint name="arm_5_joint" range="-2.0944 2.0944" damping="1"/>
+                  <geom material="mercury" mesh="arm_5-wrist-2017"/>
+                  <body name="arm_6_link" pos="0 0 0.15" quat="0.5 -0.5 -0.5 -0.5">
+                    <inertial pos="-0.000153 -0.003122 0.000183" mass="0.302758" diaginertia="3.85419e-05 3.33205e-05 3.29226e-05"/>
+                    <joint name="arm_6_joint" range="-1.41372 1.41372" damping="1"/>
+                    <geom material="mercury" mesh="arm_6-wrist-2017"/>
+                    <body name="arm_7_link" quat="0.5 0.5 0.5 0.5">
+                      <inertial pos="-0.000173894 0.000176395 0.0817355" mass="1.00276" diaginertia="0.0025841 0.0022568 0.000746434"/>
+                      <joint name="arm_7_joint" range="-2.0944 2.0944" damping="1"/>
+                      <geom size="0.005 0.0025" pos="0 0 0.047" quat="-1 0 0 1" type="cylinder" material="mercury"/>
+                      <geom size="0.0225 0.00785" pos="0 0 0.05385" quat="-1 0 0 0" type="cylinder" material="mercury"/>
+                      <geom size="0.025 0.004875" pos="0 0 0.066575" quat="-1 0 0 1" type="cylinder" material="gray10"/>
+                      <geom pos="0 0 0.076575" quat="0 -1 1 0" material="white" mesh="gripper_link"/>
+                      <body name="gripper_right_finger_link" pos="0 0 0.076575" quat="0 -1 1 0">
+                        <inertial pos="0.008658 0.019724 -0.149125" mass="0.107001" diaginertia="0.000242 0.000236 0.000018"/>
+                        <joint name="gripper_right_finger_joint" axis="1 0 0" type="slide" range="0 0.045" damping="80" frictionloss="1.0"/>
+                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_finger_link"/>
+                      </body>
+                      <body name="gripper_left_finger_link" pos="0 0 0.076575" quat="0 -1 1 0">
+                        <inertial pos="-0.008658 -0.019724 -0.149125" mass="0.107001" diaginertia="0.000242 0.000236 0.000018"/>
+                        <joint name="gripper_left_finger_joint" axis="-1 0 0" type="slide" range="0 0.045" damping="80" frictionloss="1.0"/>
+                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_finger_link1"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <!-- Added collision exclude to avoid unwanted contact forces between robot bodies -->
+  <contact>
+    <exclude body1="arm_2_link" body2="torso_lift_link"/>
+    <exclude body1="arm_3_link" body2="torso_lift_link"/>
+    <exclude body1="gripper_right_finger_link" body2="gripper_left_finger_link"/>
+  </contact>
+
+</mujoco>
diff --git a/pal_tiago/tiago_motor.xml b/pal_tiago/tiago_motor.xml
new file mode 100644
index 00000000..ad8219c2
--- /dev/null
+++ b/pal_tiago/tiago_motor.xml
@@ -0,0 +1,30 @@
+<mujoco model="tiago">
+
+  <include file="tiago.xml"/>
+  <actuator>
+    <!-- Arm actuators -->
+    <motor name="arm_1_joint_motor" joint="arm_1_joint"/>
+    <motor name="arm_2_joint_motor" joint="arm_2_joint"/>
+    <motor name="arm_3_joint_motor" joint="arm_3_joint"/>
+    <motor name="arm_4_joint_motor" joint="arm_4_joint"/>
+    <!-- Wrist actuators -->
+    <motor name="arm_5_joint_motor" joint="arm_5_joint"/>
+    <motor name="arm_6_joint_motor" joint="arm_6_joint"/>
+    <motor name="arm_7_joint_motor" joint="arm_7_joint"/>
+    <!-- End effector actuators -->
+    <position name="gripper_left_finger_position" joint="gripper_left_finger_joint" inheritrange="0.999"
+      forcerange="-64 64" kp="1000"/>
+    <position name="gripper_right_finger_position" joint="gripper_right_finger_joint" inheritrange="0.999"
+      forcerange="-64 64" kp="1000"/>
+    <!-- Head actuators -->
+    <position name="head_1_joint_position" joint="head_1_joint" inheritrange="1.0" kp="20"/>
+    <position name="head_2_joint_position" joint="head_2_joint" inheritrange="1.0" forcerange="-2.77 2.77"
+      kp="20"/>
+    <!-- Torso actuators -->
+    <position name="torso_lift_joint_position" joint="torso_lift_joint" inheritrange="1.0" kp="5000"/>
+    <!-- Wheel actuators -->
+    <velocity name="wheel_left_joint_vel" joint="wheel_left_joint" ctrlrange="-5 5" forcerange="-100 100" kv="100"/>
+    <velocity name="wheel_right_joint_vel" joint="wheel_right_joint" ctrlrange="-5 5" forcerange="-100 100" kv="100"/>
+  </actuator>
+
+</mujoco>
diff --git a/pal_tiago/tiago_position.xml b/pal_tiago/tiago_position.xml
new file mode 100644
index 00000000..7bd388e7
--- /dev/null
+++ b/pal_tiago/tiago_position.xml
@@ -0,0 +1,34 @@
+<mujoco model="tiago_position">
+
+  <include file="tiago.xml"/>
+  <actuator>
+    <!-- Arm actuators -->
+    <position name="arm_position_1_position" joint="arm_1_joint" inheritrange="1.0" kp="3000" dampratio="1.0" forcerange="-53 53"/>
+    <position name="arm_position_2_position" joint="arm_2_joint" inheritrange="1.0" kp="3000" dampratio="1.0" forcerange="-53 53"/>
+    <position name="arm_position_3_position" joint="arm_3_joint" inheritrange="1.0" kp="3000" dampratio="1.0" forcerange="-30 30"/>
+    <position name="arm_position_4_position" joint="arm_4_joint" inheritrange="1.0" kp="3000" dampratio="1.0" forcerange="-30 30"/>
+    <!-- Wrist actuators -->
+    <position name="arm_position_5_position" joint="arm_5_joint" inheritrange="1.0" kp="500" dampratio="1.0" forcerange="-3 3"/>
+    <position name="arm_position_6_position" joint="arm_6_joint" inheritrange="1.0" kp="500" dampratio="1.0" forcerange="-6.6 6.6"/>
+    <position name="arm_position_7_position" joint="arm_7_joint" inheritrange="1.0" kp="500" dampratio="1.0" forcerange="-6.6 6.6"/>
+    <!-- End effector actuators -->
+    <position name="gripper_left_finger_position" joint="gripper_left_finger_joint" inheritrange="0.999"
+      forcerange="-5.197 5.197" kp="1000" kv="80"/>
+    <position name="gripper_right_finger_position" joint="gripper_right_finger_joint" inheritrange="0.999"
+      forcerange="-5.197 5.197" kp="1000" kv="80"/>
+    <!-- Head actuators -->
+    <position name="head_1_joint_position" joint="head_1_joint" inheritrange="1.0" kp="20" forcerange="-5.197 5.197"/>
+    <position name="head_2_joint_position" joint="head_2_joint" inheritrange="1.0" kp="20" forcerange="-5.197 5.197"/>
+    <!-- Torso actuators -->
+    <position name="torso_lift_joint_position" joint="torso_lift_joint" inheritrange="1.0" kp="30000" forcerange="-500 500"/>
+    <!-- Wheel actuators -->
+    <velocity name="wheel_left_joint_vel" joint="wheel_left_joint" ctrlrange="-5 5" forcerange="-100 100" kv="100"/>
+    <velocity name="wheel_right_joint_vel" joint="wheel_right_joint" ctrlrange="-5 5" forcerange="-100 100" kv="100"/>
+  </actuator>
+
+  <keyframe>
+    <key name="home" ctrl="0.2 -1.34 -0.2 1.94 -1.57 1.37 0 0 0 0 0 0.15 0 0"
+      qpos="0 0 -0.985 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.15 0 0 0.20 -1.34 -0.20 1.94 -1.57 1.37 0.0 0 0"/>
+  </keyframe>
+
+</mujoco>
diff --git a/pal_tiago/tiago_velocity.xml b/pal_tiago/tiago_velocity.xml
new file mode 100644
index 00000000..abecf855
--- /dev/null
+++ b/pal_tiago/tiago_velocity.xml
@@ -0,0 +1,34 @@
+<mujoco model="tiago_velocity">
+
+  <include file="tiago.xml"/>
+  <actuator>
+    <!-- Arm actuators -->
+    <velocity name="arm_velocity_1_servo" joint="arm_1_joint" kv="5000" forcerange="-43 43"/>
+    <velocity name="arm_velocity_2_servo" joint="arm_2_joint" kv="100000" forcerange="-43 43"/>
+    <velocity name="arm_velocity_3_servo" joint="arm_3_joint" kv="5000" forcerange="-26 26"/>
+    <velocity name="arm_velocity_4_servo" joint="arm_4_joint" kv="50000" forcerange="-26 26"/>
+    <!-- Wrist actuators -->
+    <velocity name="arm_velocity_5_servo" joint="arm_5_joint" kv="2000" forcerange="-3 3"/>
+    <velocity name="arm_velocity_6_servo" joint="arm_6_joint" kv="2000" forcerange="-6.6 6.6"/>
+    <velocity name="arm_velocity_7_servo" joint="arm_7_joint" kv="2000" forcerange="-6.6 6.6"/>
+    <!-- End effector actuators -->
+    <position name="gripper_left_finger_position" joint="gripper_left_finger_joint" inheritrange="0.999"
+      forcerange="-5.197 5.197" kp="1000"/>
+    <position name="gripper_right_finger_position" joint="gripper_right_finger_joint" inheritrange="0.999"
+      forcerange="-5.197 5.197" kp="1000"/>
+    <!-- Head actuators -->
+    <position name="head_1_joint_position" joint="head_1_joint" inheritrange="1.0" kp="20" forcerange="-5.197 5.197"/>
+    <position name="head_2_joint_position" joint="head_2_joint" inheritrange="1.0" kp="20" forcerange="-5.197 5.197"/>
+    <!-- Torso actuators -->
+    <position name="torso_lift_joint_position" joint="torso_lift_joint" inheritrange="1.0" kp="40000" forcerange="-2000 2000"/>
+    <!-- Wheel actuators -->
+    <velocity name="wheel_left_joint_vel" joint="wheel_left_joint" ctrlrange="-5 5" forcerange="-100 100" kv="100"/>
+    <velocity name="wheel_right_joint_vel" joint="wheel_right_joint" ctrlrange="-5 5" forcerange="-100 100" kv="100"/>
+  </actuator>
+
+  <keyframe>
+    <key name="home" ctrl="0 0 0 0 0 0 0 0 0 0 0 0.15 0 0"
+      qpos="0 0 -0.985 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.15 0 0 0.20 -1.34 -0.20 1.94 -1.57 1.37 0.0 0 0"/>
+  </keyframe>
+
+</mujoco>
diff --git a/pal_tiago_dual/LICENSE b/pal_tiago_dual/LICENSE
new file mode 100644
index 00000000..261eeb9e
--- /dev/null
+++ b/pal_tiago_dual/LICENSE
@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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diff --git a/pal_tiago_dual/README.md b/pal_tiago_dual/README.md
new file mode 100644
index 00000000..b475787e
--- /dev/null
+++ b/pal_tiago_dual/README.md
@@ -0,0 +1,29 @@
+## TIAGo++ Description (MJCF)
+
+Requires MuJoCo 2.2.2 or later.
+
+### Overiew
+
+This package contains a simplified robot description (MJCF) of the [TIAGo++ Robot](https://pal-robotics.com/robots/tiago/) with omnidirectional base by [PAL Robotics](https://pal-robotics.com/). It is derived from the publicy available [URDF description](https://github.com/pal-robotics/tiago_dual_robot/blob/kinetic-devel/tiago_dual_description/). 
+
+<p float="left">
+  <img src="tiago_dual.png" width="400">
+</p>
+
+
+### URDF -> MJCF derivation steps
+
+ 1. Converted the .DAE meshes to .STL format
+ 2.  Added   `<mujoco>  <compiler meshdir="../meshes/" strippath="false"balanceinertia="true" autolimits="true" discardvisual="false"/> </mujoco>` to the URDF in order to preserve visual geometries and configure other [parameters](https://mujoco.readthedocs.io/en/stable/XMLreference.html#compiler).
+ 3.  Removed all `<collision>` elements in the URDF that created a bug with geometries.
+ 4. Removed `package://` shortcuts and fixed file paths to use assets only from the local `assets` folder. 
+ 5.  Used the MuJoCo compiler with `compile` command to convert the URDF file to MJCF  format.
+ 6. Added a free joint `<joint  name="reference"  type="free"/>` to the base and fixed the body tree by adding `<body  name="base_link"  pos="0 0 0"></body>` around the base geom.
+ 7. Added `<inertial  pos="0 0 0"  mass="28.26649"  fullinertia="0.465408937 0.483193291 0.550939703 0.002160024 -0.001760255 -0.000655952"/>` base inertia that was not automatically converted.
+ 8. Added force, velocity and position controlled actuators (manually) .
+ 9. Added visuals improvements: plane, skybox and light. 
+ 10. Added `scene_position.xml`, `scene_velocity.xml` and `scene_motor.xml` which allows to control the both arms of the robot in different control modes and which also includes the robot, with a textured groundplane, skybox, and haze.
+
+### License
+
+This model is released under an [Apache-2.0 License](LICENSE).
diff --git a/pal_tiago_dual/assets/arm/arm_1.stl b/pal_tiago_dual/assets/arm/arm_1.stl
new file mode 100644
index 00000000..a294d599
Binary files /dev/null and b/pal_tiago_dual/assets/arm/arm_1.stl differ
diff --git a/pal_tiago_dual/assets/arm/arm_11.stl b/pal_tiago_dual/assets/arm/arm_11.stl
new file mode 120000
index 00000000..aa2bd0a6
--- /dev/null
+++ b/pal_tiago_dual/assets/arm/arm_11.stl
@@ -0,0 +1 @@
+arm_1.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_12.stl b/pal_tiago_dual/assets/arm/arm_12.stl
new file mode 120000
index 00000000..aa2bd0a6
--- /dev/null
+++ b/pal_tiago_dual/assets/arm/arm_12.stl
@@ -0,0 +1 @@
+arm_1.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/arm/arm_13.stl b/pal_tiago_dual/assets/arm/arm_13.stl
new file mode 120000
index 00000000..aa2bd0a6
--- /dev/null
+++ b/pal_tiago_dual/assets/arm/arm_13.stl
@@ -0,0 +1 @@
+arm_1.stl
\ No newline at end of file
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Binary files /dev/null and b/pal_tiago_dual/assets/arm/arm_1_specular.png differ
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new file mode 120000
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new file mode 120000
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new file mode 120000
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new file mode 120000
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new file mode 120000
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Binary files /dev/null and b/pal_tiago_dual/assets/arm/arm_2_color.png differ
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Binary files /dev/null and b/pal_tiago_dual/assets/arm/arm_2_normals.png differ
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Binary files /dev/null and b/pal_tiago_dual/assets/arm/arm_2_specular.png differ
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new file mode 120000
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new file mode 120000
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new file mode 120000
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--- /dev/null
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new file mode 120000
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Binary files /dev/null and b/pal_tiago_dual/assets/arm/arm_3_collision.stl differ
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new file mode 120000
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new file mode 120000
index 00000000..e1394121
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new file mode 120000
index 00000000..e1394121
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new file mode 120000
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Binary files /dev/null and b/pal_tiago_dual/assets/arm/arm_3_color.png differ
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Binary files /dev/null and b/pal_tiago_dual/assets/arm/arm_3_normals.png differ
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Binary files /dev/null and b/pal_tiago_dual/assets/arm/arm_3_specular.png differ
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Binary files /dev/null and b/pal_tiago_dual/assets/arm/arm_4.stl differ
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new file mode 120000
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new file mode 120000
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Binary files /dev/null and b/pal_tiago_dual/assets/arm/arm_4_collision.stl differ
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new file mode 120000
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new file mode 120000
index 00000000..e4fe9037
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new file mode 120000
index 00000000..e4fe9037
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Binary files /dev/null and b/pal_tiago_dual/assets/arm/arm_4_color.png differ
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Binary files /dev/null and b/pal_tiago_dual/assets/arm/arm_4_normals.png differ
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Binary files /dev/null and b/pal_tiago_dual/assets/arm/arm_4_specular.png differ
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new file mode 120000
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new file mode 120000
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--- /dev/null
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new file mode 120000
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--- /dev/null
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new file mode 120000
index 00000000..723522a6
--- /dev/null
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new file mode 120000
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new file mode 120000
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--- /dev/null
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new file mode 120000
index 00000000..0a9504f3
--- /dev/null
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new file mode 120000
index 00000000..0a9504f3
--- /dev/null
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new file mode 120000
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new file mode 120000
index 00000000..55f6cb4e
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new file mode 120000
index 00000000..55f6cb4e
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new file mode 120000
index 00000000..55f6cb4e
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new file mode 120000
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--- /dev/null
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diff --git a/pal_tiago_dual/assets/cameras_add_on/cameras_add_on_collision2.stl b/pal_tiago_dual/assets/cameras_add_on/cameras_add_on_collision2.stl
new file mode 120000
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--- /dev/null
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new file mode 120000
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--- /dev/null
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new file mode 120000
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--- /dev/null
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new file mode 120000
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new file mode 120000
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new file mode 120000
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--- /dev/null
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new file mode 120000
index 00000000..eec8b865
--- /dev/null
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new file mode 100644
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Binary files /dev/null and b/pal_tiago_dual/assets/dock/dock_collision.stl differ
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new file mode 120000
index 00000000..c2e04bf2
--- /dev/null
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new file mode 120000
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--- /dev/null
+++ b/pal_tiago_dual/assets/dock/dock_collision2.stl
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new file mode 120000
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--- /dev/null
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new file mode 120000
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--- /dev/null
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Binary files /dev/null and b/pal_tiago_dual/assets/finger_abd_collision.stl differ
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new file mode 120000
index 00000000..16a669a6
--- /dev/null
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new file mode 120000
index 00000000..16a669a6
--- /dev/null
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new file mode 120000
index 00000000..16a669a6
--- /dev/null
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@@ -0,0 +1 @@
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new file mode 120000
index 00000000..16a669a6
--- /dev/null
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@@ -0,0 +1 @@
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new file mode 100644
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Binary files /dev/null and b/pal_tiago_dual/assets/finger_flex_collision.stl differ
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new file mode 120000
index 00000000..6d40a7e8
--- /dev/null
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@@ -0,0 +1 @@
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new file mode 120000
index 00000000..6d40a7e8
--- /dev/null
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@@ -0,0 +1 @@
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new file mode 120000
index 00000000..6d40a7e8
--- /dev/null
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@@ -0,0 +1 @@
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new file mode 120000
index 00000000..6d40a7e8
--- /dev/null
+++ b/pal_tiago_dual/assets/finger_flex_collision4.stl
@@ -0,0 +1 @@
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new file mode 100644
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Binary files /dev/null and b/pal_tiago_dual/assets/finger_flex_tip_collision.stl differ
diff --git a/pal_tiago_dual/assets/finger_flex_tip_collision1.stl b/pal_tiago_dual/assets/finger_flex_tip_collision1.stl
new file mode 120000
index 00000000..81aee6d8
--- /dev/null
+++ b/pal_tiago_dual/assets/finger_flex_tip_collision1.stl
@@ -0,0 +1 @@
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new file mode 120000
index 00000000..81aee6d8
--- /dev/null
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new file mode 120000
index 00000000..81aee6d8
--- /dev/null
+++ b/pal_tiago_dual/assets/finger_flex_tip_collision3.stl
@@ -0,0 +1 @@
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new file mode 120000
index 00000000..81aee6d8
--- /dev/null
+++ b/pal_tiago_dual/assets/finger_flex_tip_collision4.stl
@@ -0,0 +1 @@
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Binary files /dev/null and b/pal_tiago_dual/assets/gripper_finger_link.stl differ
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new file mode 120000
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--- /dev/null
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@@ -0,0 +1 @@
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\ No newline at end of file
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new file mode 120000
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--- /dev/null
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@@ -0,0 +1 @@
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new file mode 120000
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--- /dev/null
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\ No newline at end of file
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new file mode 120000
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--- /dev/null
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\ No newline at end of file
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new file mode 100644
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Binary files /dev/null and b/pal_tiago_dual/assets/gripper_finger_link_collision.stl differ
diff --git a/pal_tiago_dual/assets/gripper_finger_link_collision1.stl b/pal_tiago_dual/assets/gripper_finger_link_collision1.stl
new file mode 120000
index 00000000..08963b7c
--- /dev/null
+++ b/pal_tiago_dual/assets/gripper_finger_link_collision1.stl
@@ -0,0 +1 @@
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\ No newline at end of file
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new file mode 120000
index 00000000..08963b7c
--- /dev/null
+++ b/pal_tiago_dual/assets/gripper_finger_link_collision2.stl
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pal_tiago_dual/assets/gripper_finger_link_collision3.stl b/pal_tiago_dual/assets/gripper_finger_link_collision3.stl
new file mode 120000
index 00000000..08963b7c
--- /dev/null
+++ b/pal_tiago_dual/assets/gripper_finger_link_collision3.stl
@@ -0,0 +1 @@
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\ No newline at end of file
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new file mode 120000
index 00000000..08963b7c
--- /dev/null
+++ b/pal_tiago_dual/assets/gripper_finger_link_collision4.stl
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new file mode 100644
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Binary files /dev/null and b/pal_tiago_dual/assets/gripper_link.stl differ
diff --git a/pal_tiago_dual/assets/gripper_link1.stl b/pal_tiago_dual/assets/gripper_link1.stl
new file mode 120000
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--- /dev/null
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new file mode 120000
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--- /dev/null
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new file mode 120000
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--- /dev/null
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\ No newline at end of file
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new file mode 120000
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--- /dev/null
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\ No newline at end of file
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new file mode 100644
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Binary files /dev/null and b/pal_tiago_dual/assets/gripper_link_collision.stl differ
diff --git a/pal_tiago_dual/assets/gripper_link_collision1.stl b/pal_tiago_dual/assets/gripper_link_collision1.stl
new file mode 120000
index 00000000..74b412ba
--- /dev/null
+++ b/pal_tiago_dual/assets/gripper_link_collision1.stl
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pal_tiago_dual/assets/gripper_link_collision2.stl b/pal_tiago_dual/assets/gripper_link_collision2.stl
new file mode 120000
index 00000000..74b412ba
--- /dev/null
+++ b/pal_tiago_dual/assets/gripper_link_collision2.stl
@@ -0,0 +1 @@
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\ No newline at end of file
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new file mode 120000
index 00000000..74b412ba
--- /dev/null
+++ b/pal_tiago_dual/assets/gripper_link_collision3.stl
@@ -0,0 +1 @@
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\ No newline at end of file
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new file mode 120000
index 00000000..74b412ba
--- /dev/null
+++ b/pal_tiago_dual/assets/gripper_link_collision4.stl
@@ -0,0 +1 @@
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\ No newline at end of file
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new file mode 100644
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Binary files /dev/null and b/pal_tiago_dual/assets/head/head_1.stl differ
diff --git a/pal_tiago_dual/assets/head/head_11.stl b/pal_tiago_dual/assets/head/head_11.stl
new file mode 120000
index 00000000..0e0e860f
--- /dev/null
+++ b/pal_tiago_dual/assets/head/head_11.stl
@@ -0,0 +1 @@
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\ No newline at end of file
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new file mode 120000
index 00000000..0e0e860f
--- /dev/null
+++ b/pal_tiago_dual/assets/head/head_12.stl
@@ -0,0 +1 @@
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\ No newline at end of file
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new file mode 120000
index 00000000..0e0e860f
--- /dev/null
+++ b/pal_tiago_dual/assets/head/head_13.stl
@@ -0,0 +1 @@
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\ No newline at end of file
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new file mode 120000
index 00000000..0e0e860f
--- /dev/null
+++ b/pal_tiago_dual/assets/head/head_14.stl
@@ -0,0 +1 @@
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\ No newline at end of file
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new file mode 100644
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Binary files /dev/null and b/pal_tiago_dual/assets/head/head_1_collision.stl differ
diff --git a/pal_tiago_dual/assets/head/head_1_collision1.stl b/pal_tiago_dual/assets/head/head_1_collision1.stl
new file mode 120000
index 00000000..de68fe68
--- /dev/null
+++ b/pal_tiago_dual/assets/head/head_1_collision1.stl
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_1_collision2.stl b/pal_tiago_dual/assets/head/head_1_collision2.stl
new file mode 120000
index 00000000..de68fe68
--- /dev/null
+++ b/pal_tiago_dual/assets/head/head_1_collision2.stl
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_1_collision3.stl b/pal_tiago_dual/assets/head/head_1_collision3.stl
new file mode 120000
index 00000000..de68fe68
--- /dev/null
+++ b/pal_tiago_dual/assets/head/head_1_collision3.stl
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_1_collision4.stl b/pal_tiago_dual/assets/head/head_1_collision4.stl
new file mode 120000
index 00000000..de68fe68
--- /dev/null
+++ b/pal_tiago_dual/assets/head/head_1_collision4.stl
@@ -0,0 +1 @@
+head_1_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_2.stl b/pal_tiago_dual/assets/head/head_2.stl
new file mode 100644
index 00000000..c0c6a150
Binary files /dev/null and b/pal_tiago_dual/assets/head/head_2.stl differ
diff --git a/pal_tiago_dual/assets/head/head_21.stl b/pal_tiago_dual/assets/head/head_21.stl
new file mode 120000
index 00000000..14106388
--- /dev/null
+++ b/pal_tiago_dual/assets/head/head_21.stl
@@ -0,0 +1 @@
+head_2.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_22.stl b/pal_tiago_dual/assets/head/head_22.stl
new file mode 120000
index 00000000..14106388
--- /dev/null
+++ b/pal_tiago_dual/assets/head/head_22.stl
@@ -0,0 +1 @@
+head_2.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_23.stl b/pal_tiago_dual/assets/head/head_23.stl
new file mode 120000
index 00000000..14106388
--- /dev/null
+++ b/pal_tiago_dual/assets/head/head_23.stl
@@ -0,0 +1 @@
+head_2.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_24.stl b/pal_tiago_dual/assets/head/head_24.stl
new file mode 120000
index 00000000..14106388
--- /dev/null
+++ b/pal_tiago_dual/assets/head/head_24.stl
@@ -0,0 +1 @@
+head_2.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_2_collision.stl b/pal_tiago_dual/assets/head/head_2_collision.stl
new file mode 100644
index 00000000..09d00f7e
Binary files /dev/null and b/pal_tiago_dual/assets/head/head_2_collision.stl differ
diff --git a/pal_tiago_dual/assets/head/head_2_collision1.stl b/pal_tiago_dual/assets/head/head_2_collision1.stl
new file mode 120000
index 00000000..c906ace3
--- /dev/null
+++ b/pal_tiago_dual/assets/head/head_2_collision1.stl
@@ -0,0 +1 @@
+head_2_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_2_collision2.stl b/pal_tiago_dual/assets/head/head_2_collision2.stl
new file mode 120000
index 00000000..c906ace3
--- /dev/null
+++ b/pal_tiago_dual/assets/head/head_2_collision2.stl
@@ -0,0 +1 @@
+head_2_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_2_collision3.stl b/pal_tiago_dual/assets/head/head_2_collision3.stl
new file mode 120000
index 00000000..c906ace3
--- /dev/null
+++ b/pal_tiago_dual/assets/head/head_2_collision3.stl
@@ -0,0 +1 @@
+head_2_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/head/head_2_collision4.stl b/pal_tiago_dual/assets/head/head_2_collision4.stl
new file mode 120000
index 00000000..c906ace3
--- /dev/null
+++ b/pal_tiago_dual/assets/head/head_2_collision4.stl
@@ -0,0 +1 @@
+head_2_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/antenna.stl b/pal_tiago_dual/assets/objects/antenna.stl
new file mode 100755
index 00000000..431e6a2d
Binary files /dev/null and b/pal_tiago_dual/assets/objects/antenna.stl differ
diff --git a/pal_tiago_dual/assets/objects/antenna1.stl b/pal_tiago_dual/assets/objects/antenna1.stl
new file mode 120000
index 00000000..893b28e7
--- /dev/null
+++ b/pal_tiago_dual/assets/objects/antenna1.stl
@@ -0,0 +1 @@
+antenna.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/antenna2.stl b/pal_tiago_dual/assets/objects/antenna2.stl
new file mode 120000
index 00000000..893b28e7
--- /dev/null
+++ b/pal_tiago_dual/assets/objects/antenna2.stl
@@ -0,0 +1 @@
+antenna.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/antenna3.stl b/pal_tiago_dual/assets/objects/antenna3.stl
new file mode 120000
index 00000000..893b28e7
--- /dev/null
+++ b/pal_tiago_dual/assets/objects/antenna3.stl
@@ -0,0 +1 @@
+antenna.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/antenna4.stl b/pal_tiago_dual/assets/objects/antenna4.stl
new file mode 120000
index 00000000..893b28e7
--- /dev/null
+++ b/pal_tiago_dual/assets/objects/antenna4.stl
@@ -0,0 +1 @@
+antenna.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/cover.stl b/pal_tiago_dual/assets/objects/cover.stl
new file mode 100644
index 00000000..7a789d59
Binary files /dev/null and b/pal_tiago_dual/assets/objects/cover.stl differ
diff --git a/pal_tiago_dual/assets/objects/cover1.stl b/pal_tiago_dual/assets/objects/cover1.stl
new file mode 120000
index 00000000..4c1e9e37
--- /dev/null
+++ b/pal_tiago_dual/assets/objects/cover1.stl
@@ -0,0 +1 @@
+cover.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/cover2.stl b/pal_tiago_dual/assets/objects/cover2.stl
new file mode 120000
index 00000000..4c1e9e37
--- /dev/null
+++ b/pal_tiago_dual/assets/objects/cover2.stl
@@ -0,0 +1 @@
+cover.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/cover3.stl b/pal_tiago_dual/assets/objects/cover3.stl
new file mode 120000
index 00000000..4c1e9e37
--- /dev/null
+++ b/pal_tiago_dual/assets/objects/cover3.stl
@@ -0,0 +1 @@
+cover.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/cover4.stl b/pal_tiago_dual/assets/objects/cover4.stl
new file mode 120000
index 00000000..4c1e9e37
--- /dev/null
+++ b/pal_tiago_dual/assets/objects/cover4.stl
@@ -0,0 +1 @@
+cover.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/high_resolution/cover.stl b/pal_tiago_dual/assets/objects/high_resolution/cover.stl
new file mode 100644
index 00000000..7a789d59
Binary files /dev/null and b/pal_tiago_dual/assets/objects/high_resolution/cover.stl differ
diff --git a/pal_tiago_dual/assets/objects/high_resolution/cover1.stl b/pal_tiago_dual/assets/objects/high_resolution/cover1.stl
new file mode 120000
index 00000000..4c1e9e37
--- /dev/null
+++ b/pal_tiago_dual/assets/objects/high_resolution/cover1.stl
@@ -0,0 +1 @@
+cover.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/high_resolution/cover2.stl b/pal_tiago_dual/assets/objects/high_resolution/cover2.stl
new file mode 120000
index 00000000..4c1e9e37
--- /dev/null
+++ b/pal_tiago_dual/assets/objects/high_resolution/cover2.stl
@@ -0,0 +1 @@
+cover.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/high_resolution/cover3.stl b/pal_tiago_dual/assets/objects/high_resolution/cover3.stl
new file mode 120000
index 00000000..4c1e9e37
--- /dev/null
+++ b/pal_tiago_dual/assets/objects/high_resolution/cover3.stl
@@ -0,0 +1 @@
+cover.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/objects/high_resolution/cover4.stl b/pal_tiago_dual/assets/objects/high_resolution/cover4.stl
new file mode 120000
index 00000000..4c1e9e37
--- /dev/null
+++ b/pal_tiago_dual/assets/objects/high_resolution/cover4.stl
@@ -0,0 +1 @@
+cover.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/palm.stl b/pal_tiago_dual/assets/palm.stl
new file mode 100644
index 00000000..4ef69e12
Binary files /dev/null and b/pal_tiago_dual/assets/palm.stl differ
diff --git a/pal_tiago_dual/assets/palm1.stl b/pal_tiago_dual/assets/palm1.stl
new file mode 120000
index 00000000..f848bb0e
--- /dev/null
+++ b/pal_tiago_dual/assets/palm1.stl
@@ -0,0 +1 @@
+palm.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/palm2.stl b/pal_tiago_dual/assets/palm2.stl
new file mode 120000
index 00000000..f848bb0e
--- /dev/null
+++ b/pal_tiago_dual/assets/palm2.stl
@@ -0,0 +1 @@
+palm.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/palm3.stl b/pal_tiago_dual/assets/palm3.stl
new file mode 120000
index 00000000..f848bb0e
--- /dev/null
+++ b/pal_tiago_dual/assets/palm3.stl
@@ -0,0 +1 @@
+palm.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/palm4.stl b/pal_tiago_dual/assets/palm4.stl
new file mode 120000
index 00000000..f848bb0e
--- /dev/null
+++ b/pal_tiago_dual/assets/palm4.stl
@@ -0,0 +1 @@
+palm.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/palm_collision.stl b/pal_tiago_dual/assets/palm_collision.stl
new file mode 100644
index 00000000..dde281c4
Binary files /dev/null and b/pal_tiago_dual/assets/palm_collision.stl differ
diff --git a/pal_tiago_dual/assets/palm_collision1.stl b/pal_tiago_dual/assets/palm_collision1.stl
new file mode 120000
index 00000000..88125e90
--- /dev/null
+++ b/pal_tiago_dual/assets/palm_collision1.stl
@@ -0,0 +1 @@
+palm_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/palm_collision2.stl b/pal_tiago_dual/assets/palm_collision2.stl
new file mode 120000
index 00000000..88125e90
--- /dev/null
+++ b/pal_tiago_dual/assets/palm_collision2.stl
@@ -0,0 +1 @@
+palm_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/palm_collision3.stl b/pal_tiago_dual/assets/palm_collision3.stl
new file mode 120000
index 00000000..88125e90
--- /dev/null
+++ b/pal_tiago_dual/assets/palm_collision3.stl
@@ -0,0 +1 @@
+palm_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/palm_collision4.stl b/pal_tiago_dual/assets/palm_collision4.stl
new file mode 120000
index 00000000..88125e90
--- /dev/null
+++ b/pal_tiago_dual/assets/palm_collision4.stl
@@ -0,0 +1 @@
+palm_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/bumper.stl b/pal_tiago_dual/assets/sensors/bumper.stl
new file mode 100644
index 00000000..a22653d7
Binary files /dev/null and b/pal_tiago_dual/assets/sensors/bumper.stl differ
diff --git a/pal_tiago_dual/assets/sensors/bumper1.stl b/pal_tiago_dual/assets/sensors/bumper1.stl
new file mode 120000
index 00000000..d45663cc
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/bumper1.stl
@@ -0,0 +1 @@
+bumper.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/bumper2.stl b/pal_tiago_dual/assets/sensors/bumper2.stl
new file mode 120000
index 00000000..d45663cc
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/bumper2.stl
@@ -0,0 +1 @@
+bumper.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/bumper3.stl b/pal_tiago_dual/assets/sensors/bumper3.stl
new file mode 120000
index 00000000..d45663cc
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/bumper3.stl
@@ -0,0 +1 @@
+bumper.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/bumper4.stl b/pal_tiago_dual/assets/sensors/bumper4.stl
new file mode 120000
index 00000000..d45663cc
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/bumper4.stl
@@ -0,0 +1 @@
+bumper.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/bumper_collision.stl b/pal_tiago_dual/assets/sensors/bumper_collision.stl
new file mode 100644
index 00000000..636ccf77
Binary files /dev/null and b/pal_tiago_dual/assets/sensors/bumper_collision.stl differ
diff --git a/pal_tiago_dual/assets/sensors/bumper_collision1.stl b/pal_tiago_dual/assets/sensors/bumper_collision1.stl
new file mode 120000
index 00000000..85966b8c
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/bumper_collision1.stl
@@ -0,0 +1 @@
+bumper_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/bumper_collision2.stl b/pal_tiago_dual/assets/sensors/bumper_collision2.stl
new file mode 120000
index 00000000..85966b8c
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/bumper_collision2.stl
@@ -0,0 +1 @@
+bumper_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/bumper_collision3.stl b/pal_tiago_dual/assets/sensors/bumper_collision3.stl
new file mode 120000
index 00000000..85966b8c
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/bumper_collision3.stl
@@ -0,0 +1 @@
+bumper_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/bumper_collision4.stl b/pal_tiago_dual/assets/sensors/bumper_collision4.stl
new file mode 120000
index 00000000..85966b8c
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/bumper_collision4.stl
@@ -0,0 +1 @@
+bumper_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/elp_camera.stl b/pal_tiago_dual/assets/sensors/elp_camera.stl
new file mode 100644
index 00000000..2999817e
Binary files /dev/null and b/pal_tiago_dual/assets/sensors/elp_camera.stl differ
diff --git a/pal_tiago_dual/assets/sensors/elp_camera1.stl b/pal_tiago_dual/assets/sensors/elp_camera1.stl
new file mode 120000
index 00000000..c79eb2f3
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/elp_camera1.stl
@@ -0,0 +1 @@
+elp_camera.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/elp_camera2.stl b/pal_tiago_dual/assets/sensors/elp_camera2.stl
new file mode 120000
index 00000000..c79eb2f3
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/elp_camera2.stl
@@ -0,0 +1 @@
+elp_camera.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/elp_camera3.stl b/pal_tiago_dual/assets/sensors/elp_camera3.stl
new file mode 120000
index 00000000..c79eb2f3
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/elp_camera3.stl
@@ -0,0 +1 @@
+elp_camera.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/elp_camera4.stl b/pal_tiago_dual/assets/sensors/elp_camera4.stl
new file mode 120000
index 00000000..c79eb2f3
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/elp_camera4.stl
@@ -0,0 +1 @@
+elp_camera.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug01.stl b/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug01.stl
new file mode 100644
index 00000000..f6d27d08
Binary files /dev/null and b/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug01.stl differ
diff --git a/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug011.stl b/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug011.stl
new file mode 120000
index 00000000..89b76bb4
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug011.stl
@@ -0,0 +1 @@
+hokuyo_urg_04lx_ug01.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug012.stl b/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug012.stl
new file mode 120000
index 00000000..89b76bb4
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug012.stl
@@ -0,0 +1 @@
+hokuyo_urg_04lx_ug01.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug013.stl b/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug013.stl
new file mode 120000
index 00000000..89b76bb4
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug013.stl
@@ -0,0 +1 @@
+hokuyo_urg_04lx_ug01.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug014.stl b/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug014.stl
new file mode 120000
index 00000000..89b76bb4
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/hokuyo_urg_04lx_ug014.stl
@@ -0,0 +1 @@
+hokuyo_urg_04lx_ug01.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/sick_tim551.stl b/pal_tiago_dual/assets/sensors/sick_tim551.stl
new file mode 100644
index 00000000..960b8412
Binary files /dev/null and b/pal_tiago_dual/assets/sensors/sick_tim551.stl differ
diff --git a/pal_tiago_dual/assets/sensors/sick_tim5511.stl b/pal_tiago_dual/assets/sensors/sick_tim5511.stl
new file mode 120000
index 00000000..d75575fd
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/sick_tim5511.stl
@@ -0,0 +1 @@
+sick_tim551.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/sick_tim5512.stl b/pal_tiago_dual/assets/sensors/sick_tim5512.stl
new file mode 120000
index 00000000..d75575fd
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/sick_tim5512.stl
@@ -0,0 +1 @@
+sick_tim551.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/sick_tim5513.stl b/pal_tiago_dual/assets/sensors/sick_tim5513.stl
new file mode 120000
index 00000000..d75575fd
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/sick_tim5513.stl
@@ -0,0 +1 @@
+sick_tim551.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/sick_tim5514.stl b/pal_tiago_dual/assets/sensors/sick_tim5514.stl
new file mode 120000
index 00000000..d75575fd
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/sick_tim5514.stl
@@ -0,0 +1 @@
+sick_tim551.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/srf05.stl b/pal_tiago_dual/assets/sensors/srf05.stl
new file mode 100644
index 00000000..566c942f
Binary files /dev/null and b/pal_tiago_dual/assets/sensors/srf05.stl differ
diff --git a/pal_tiago_dual/assets/sensors/srf051.stl b/pal_tiago_dual/assets/sensors/srf051.stl
new file mode 120000
index 00000000..0ef210ae
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/srf051.stl
@@ -0,0 +1 @@
+srf05.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/srf052.stl b/pal_tiago_dual/assets/sensors/srf052.stl
new file mode 120000
index 00000000..0ef210ae
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/srf052.stl
@@ -0,0 +1 @@
+srf05.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/srf053.stl b/pal_tiago_dual/assets/sensors/srf053.stl
new file mode 120000
index 00000000..0ef210ae
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/srf053.stl
@@ -0,0 +1 @@
+srf05.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/srf054.stl b/pal_tiago_dual/assets/sensors/srf054.stl
new file mode 120000
index 00000000..0ef210ae
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/srf054.stl
@@ -0,0 +1 @@
+srf05.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/structure_sensor.stl b/pal_tiago_dual/assets/sensors/structure_sensor.stl
new file mode 100644
index 00000000..cdfc72f0
Binary files /dev/null and b/pal_tiago_dual/assets/sensors/structure_sensor.stl differ
diff --git a/pal_tiago_dual/assets/sensors/structure_sensor1.stl b/pal_tiago_dual/assets/sensors/structure_sensor1.stl
new file mode 120000
index 00000000..38cd3c6a
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/structure_sensor1.stl
@@ -0,0 +1 @@
+structure_sensor.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/structure_sensor2.stl b/pal_tiago_dual/assets/sensors/structure_sensor2.stl
new file mode 120000
index 00000000..38cd3c6a
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/structure_sensor2.stl
@@ -0,0 +1 @@
+structure_sensor.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/structure_sensor3.stl b/pal_tiago_dual/assets/sensors/structure_sensor3.stl
new file mode 120000
index 00000000..38cd3c6a
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/structure_sensor3.stl
@@ -0,0 +1 @@
+structure_sensor.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/structure_sensor4.stl b/pal_tiago_dual/assets/sensors/structure_sensor4.stl
new file mode 120000
index 00000000..38cd3c6a
--- /dev/null
+++ b/pal_tiago_dual/assets/sensors/structure_sensor4.stl
@@ -0,0 +1 @@
+structure_sensor.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/sensors/xtion_pro_live/xtion_pro_live.png b/pal_tiago_dual/assets/sensors/xtion_pro_live/xtion_pro_live.png
new file mode 100644
index 00000000..b51bb875
Binary files /dev/null and b/pal_tiago_dual/assets/sensors/xtion_pro_live/xtion_pro_live.png differ
diff --git a/pal_tiago_dual/assets/thumb_abd_collision.stl b/pal_tiago_dual/assets/thumb_abd_collision.stl
new file mode 100644
index 00000000..91994f75
Binary files /dev/null and b/pal_tiago_dual/assets/thumb_abd_collision.stl differ
diff --git a/pal_tiago_dual/assets/thumb_abd_collision1.stl b/pal_tiago_dual/assets/thumb_abd_collision1.stl
new file mode 120000
index 00000000..d5fcbb7e
--- /dev/null
+++ b/pal_tiago_dual/assets/thumb_abd_collision1.stl
@@ -0,0 +1 @@
+thumb_abd_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/thumb_abd_collision2.stl b/pal_tiago_dual/assets/thumb_abd_collision2.stl
new file mode 120000
index 00000000..d5fcbb7e
--- /dev/null
+++ b/pal_tiago_dual/assets/thumb_abd_collision2.stl
@@ -0,0 +1 @@
+thumb_abd_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/thumb_abd_collision3.stl b/pal_tiago_dual/assets/thumb_abd_collision3.stl
new file mode 120000
index 00000000..d5fcbb7e
--- /dev/null
+++ b/pal_tiago_dual/assets/thumb_abd_collision3.stl
@@ -0,0 +1 @@
+thumb_abd_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/thumb_abd_collision4.stl b/pal_tiago_dual/assets/thumb_abd_collision4.stl
new file mode 120000
index 00000000..d5fcbb7e
--- /dev/null
+++ b/pal_tiago_dual/assets/thumb_abd_collision4.stl
@@ -0,0 +1 @@
+thumb_abd_collision.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_fix.stl b/pal_tiago_dual/assets/torso/torso_fix.stl
new file mode 100644
index 00000000..43a0be47
Binary files /dev/null and b/pal_tiago_dual/assets/torso/torso_fix.stl differ
diff --git a/pal_tiago_dual/assets/torso/torso_fix1.stl b/pal_tiago_dual/assets/torso/torso_fix1.stl
new file mode 120000
index 00000000..149ea81d
--- /dev/null
+++ b/pal_tiago_dual/assets/torso/torso_fix1.stl
@@ -0,0 +1 @@
+torso_fix.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_fix2.stl b/pal_tiago_dual/assets/torso/torso_fix2.stl
new file mode 120000
index 00000000..149ea81d
--- /dev/null
+++ b/pal_tiago_dual/assets/torso/torso_fix2.stl
@@ -0,0 +1 @@
+torso_fix.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_fix3.stl b/pal_tiago_dual/assets/torso/torso_fix3.stl
new file mode 120000
index 00000000..149ea81d
--- /dev/null
+++ b/pal_tiago_dual/assets/torso/torso_fix3.stl
@@ -0,0 +1 @@
+torso_fix.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_fix4.stl b/pal_tiago_dual/assets/torso/torso_fix4.stl
new file mode 120000
index 00000000..149ea81d
--- /dev/null
+++ b/pal_tiago_dual/assets/torso/torso_fix4.stl
@@ -0,0 +1 @@
+torso_fix.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_collision_core.stl b/pal_tiago_dual/assets/torso/torso_lift_collision_core.stl
new file mode 100644
index 00000000..85bf0abe
Binary files /dev/null and b/pal_tiago_dual/assets/torso/torso_lift_collision_core.stl differ
diff --git a/pal_tiago_dual/assets/torso/torso_lift_collision_core1.stl b/pal_tiago_dual/assets/torso/torso_lift_collision_core1.stl
new file mode 120000
index 00000000..5a728a9b
--- /dev/null
+++ b/pal_tiago_dual/assets/torso/torso_lift_collision_core1.stl
@@ -0,0 +1 @@
+torso_lift_collision_core.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_collision_core2.stl b/pal_tiago_dual/assets/torso/torso_lift_collision_core2.stl
new file mode 120000
index 00000000..5a728a9b
--- /dev/null
+++ b/pal_tiago_dual/assets/torso/torso_lift_collision_core2.stl
@@ -0,0 +1 @@
+torso_lift_collision_core.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_collision_core3.stl b/pal_tiago_dual/assets/torso/torso_lift_collision_core3.stl
new file mode 120000
index 00000000..5a728a9b
--- /dev/null
+++ b/pal_tiago_dual/assets/torso/torso_lift_collision_core3.stl
@@ -0,0 +1 @@
+torso_lift_collision_core.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_collision_core4.stl b/pal_tiago_dual/assets/torso/torso_lift_collision_core4.stl
new file mode 120000
index 00000000..5a728a9b
--- /dev/null
+++ b/pal_tiago_dual/assets/torso/torso_lift_collision_core4.stl
@@ -0,0 +1 @@
+torso_lift_collision_core.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_dual_arm.stl b/pal_tiago_dual/assets/torso/torso_lift_dual_arm.stl
new file mode 100644
index 00000000..1e89c7ee
Binary files /dev/null and b/pal_tiago_dual/assets/torso/torso_lift_dual_arm.stl differ
diff --git a/pal_tiago_dual/assets/torso/torso_lift_dual_arm1.stl b/pal_tiago_dual/assets/torso/torso_lift_dual_arm1.stl
new file mode 120000
index 00000000..279a9f0a
--- /dev/null
+++ b/pal_tiago_dual/assets/torso/torso_lift_dual_arm1.stl
@@ -0,0 +1 @@
+torso_lift_dual_arm.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_dual_arm2.stl b/pal_tiago_dual/assets/torso/torso_lift_dual_arm2.stl
new file mode 120000
index 00000000..279a9f0a
--- /dev/null
+++ b/pal_tiago_dual/assets/torso/torso_lift_dual_arm2.stl
@@ -0,0 +1 @@
+torso_lift_dual_arm.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_dual_arm3.stl b/pal_tiago_dual/assets/torso/torso_lift_dual_arm3.stl
new file mode 120000
index 00000000..279a9f0a
--- /dev/null
+++ b/pal_tiago_dual/assets/torso/torso_lift_dual_arm3.stl
@@ -0,0 +1 @@
+torso_lift_dual_arm.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_dual_arm4.stl b/pal_tiago_dual/assets/torso/torso_lift_dual_arm4.stl
new file mode 120000
index 00000000..279a9f0a
--- /dev/null
+++ b/pal_tiago_dual/assets/torso/torso_lift_dual_arm4.stl
@@ -0,0 +1 @@
+torso_lift_dual_arm.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen.stl b/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen.stl
new file mode 100644
index 00000000..a841ab03
Binary files /dev/null and b/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen.stl differ
diff --git a/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen1.stl b/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen1.stl
new file mode 120000
index 00000000..5e2aafaa
--- /dev/null
+++ b/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen1.stl
@@ -0,0 +1 @@
+torso_lift_dual_arm_with_screen.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen2.stl b/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen2.stl
new file mode 120000
index 00000000..5e2aafaa
--- /dev/null
+++ b/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen2.stl
@@ -0,0 +1 @@
+torso_lift_dual_arm_with_screen.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen3.stl b/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen3.stl
new file mode 120000
index 00000000..5e2aafaa
--- /dev/null
+++ b/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen3.stl
@@ -0,0 +1 @@
+torso_lift_dual_arm_with_screen.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen4.stl b/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen4.stl
new file mode 120000
index 00000000..5e2aafaa
--- /dev/null
+++ b/pal_tiago_dual/assets/torso/torso_lift_dual_arm_with_screen4.stl
@@ -0,0 +1 @@
+torso_lift_dual_arm_with_screen.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/suspension_front_link.stl b/pal_tiago_dual/assets/wheels/suspension_front_link.stl
new file mode 100644
index 00000000..92381df3
Binary files /dev/null and b/pal_tiago_dual/assets/wheels/suspension_front_link.stl differ
diff --git a/pal_tiago_dual/assets/wheels/suspension_front_link1.stl b/pal_tiago_dual/assets/wheels/suspension_front_link1.stl
new file mode 120000
index 00000000..8046eef3
--- /dev/null
+++ b/pal_tiago_dual/assets/wheels/suspension_front_link1.stl
@@ -0,0 +1 @@
+suspension_front_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/suspension_front_link2.stl b/pal_tiago_dual/assets/wheels/suspension_front_link2.stl
new file mode 120000
index 00000000..8046eef3
--- /dev/null
+++ b/pal_tiago_dual/assets/wheels/suspension_front_link2.stl
@@ -0,0 +1 @@
+suspension_front_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/suspension_front_link3.stl b/pal_tiago_dual/assets/wheels/suspension_front_link3.stl
new file mode 120000
index 00000000..8046eef3
--- /dev/null
+++ b/pal_tiago_dual/assets/wheels/suspension_front_link3.stl
@@ -0,0 +1 @@
+suspension_front_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/suspension_front_link4.stl b/pal_tiago_dual/assets/wheels/suspension_front_link4.stl
new file mode 120000
index 00000000..8046eef3
--- /dev/null
+++ b/pal_tiago_dual/assets/wheels/suspension_front_link4.stl
@@ -0,0 +1 @@
+suspension_front_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/suspension_rear_link.stl b/pal_tiago_dual/assets/wheels/suspension_rear_link.stl
new file mode 100644
index 00000000..37e6eb63
Binary files /dev/null and b/pal_tiago_dual/assets/wheels/suspension_rear_link.stl differ
diff --git a/pal_tiago_dual/assets/wheels/suspension_rear_link1.stl b/pal_tiago_dual/assets/wheels/suspension_rear_link1.stl
new file mode 120000
index 00000000..6e329116
--- /dev/null
+++ b/pal_tiago_dual/assets/wheels/suspension_rear_link1.stl
@@ -0,0 +1 @@
+suspension_rear_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/suspension_rear_link2.stl b/pal_tiago_dual/assets/wheels/suspension_rear_link2.stl
new file mode 120000
index 00000000..6e329116
--- /dev/null
+++ b/pal_tiago_dual/assets/wheels/suspension_rear_link2.stl
@@ -0,0 +1 @@
+suspension_rear_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/suspension_rear_link3.stl b/pal_tiago_dual/assets/wheels/suspension_rear_link3.stl
new file mode 120000
index 00000000..6e329116
--- /dev/null
+++ b/pal_tiago_dual/assets/wheels/suspension_rear_link3.stl
@@ -0,0 +1 @@
+suspension_rear_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/suspension_rear_link4.stl b/pal_tiago_dual/assets/wheels/suspension_rear_link4.stl
new file mode 120000
index 00000000..6e329116
--- /dev/null
+++ b/pal_tiago_dual/assets/wheels/suspension_rear_link4.stl
@@ -0,0 +1 @@
+suspension_rear_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/wheel_link.stl b/pal_tiago_dual/assets/wheels/wheel_link.stl
new file mode 100644
index 00000000..f63898f7
Binary files /dev/null and b/pal_tiago_dual/assets/wheels/wheel_link.stl differ
diff --git a/pal_tiago_dual/assets/wheels/wheel_link1.stl b/pal_tiago_dual/assets/wheels/wheel_link1.stl
new file mode 120000
index 00000000..a68bc101
--- /dev/null
+++ b/pal_tiago_dual/assets/wheels/wheel_link1.stl
@@ -0,0 +1 @@
+wheel_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/wheel_link2.stl b/pal_tiago_dual/assets/wheels/wheel_link2.stl
new file mode 120000
index 00000000..a68bc101
--- /dev/null
+++ b/pal_tiago_dual/assets/wheels/wheel_link2.stl
@@ -0,0 +1 @@
+wheel_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/wheel_link3.stl b/pal_tiago_dual/assets/wheels/wheel_link3.stl
new file mode 120000
index 00000000..a68bc101
--- /dev/null
+++ b/pal_tiago_dual/assets/wheels/wheel_link3.stl
@@ -0,0 +1 @@
+wheel_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/assets/wheels/wheel_link4.stl b/pal_tiago_dual/assets/wheels/wheel_link4.stl
new file mode 120000
index 00000000..a68bc101
--- /dev/null
+++ b/pal_tiago_dual/assets/wheels/wheel_link4.stl
@@ -0,0 +1 @@
+wheel_link.stl
\ No newline at end of file
diff --git a/pal_tiago_dual/scene_motor.xml b/pal_tiago_dual/scene_motor.xml
new file mode 100644
index 00000000..f1f48c85
--- /dev/null
+++ b/pal_tiago_dual/scene_motor.xml
@@ -0,0 +1,25 @@
+<mujoco model="tiago dual motor scene">
+
+  <include file="tiago_dual_motor.xml"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="150" elevation="-20" realtime="1"/>
+    
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8"
+      type="2d" width="200"/>
+    <material name="MatPlane" reflectance="0.1" shininess="0.4" specular="1" texrepeat="5 5" texuniform="true"
+      texture="texplane"/>
+  </asset>
+
+  <worldbody>
+    <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 10"/>
+    <geom name="floor" pos="0 0 -0.99" size="0 0 1" type="plane" material="MatPlane" contype="1" conaffinity="1"/>
+  </worldbody>
+
+</mujoco>
diff --git a/pal_tiago_dual/scene_position.xml b/pal_tiago_dual/scene_position.xml
new file mode 100644
index 00000000..7a84b334
--- /dev/null
+++ b/pal_tiago_dual/scene_position.xml
@@ -0,0 +1,25 @@
+<mujoco model="tiago dual position scene">
+
+  <include file="tiago_dual_position.xml"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="150" elevation="-20" realtime="1"/>
+    
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8"
+      type="2d" width="200"/>
+    <material name="MatPlane" reflectance="0.1" shininess="0.4" specular="1" texrepeat="5 5" texuniform="true"
+      texture="texplane"/>
+  </asset>
+
+  <worldbody>
+    <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 10"/>
+    <geom name="floor" pos="0 0 -0.99" size="0 0 1" type="plane" material="MatPlane" contype="1" conaffinity="1"/>
+  </worldbody>
+
+</mujoco>
diff --git a/pal_tiago_dual/scene_velocity.xml b/pal_tiago_dual/scene_velocity.xml
new file mode 100644
index 00000000..d6373958
--- /dev/null
+++ b/pal_tiago_dual/scene_velocity.xml
@@ -0,0 +1,25 @@
+<mujoco model="tiago dual velocity scene">
+
+  <include file="tiago_dual_velocity.xml"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="150" elevation="-20" realtime="1"/>
+    
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture builtin="checker" height="100" name="texplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8"
+      type="2d" width="200"/>
+    <material name="MatPlane" reflectance="0.1" shininess="0.4" specular="1" texrepeat="5 5" texuniform="true"
+      texture="texplane"/>
+  </asset>
+
+  <worldbody>
+    <light name="spotlight" mode="targetbody" target="base_link" pos="1 0 10"/>
+    <geom name="floor" pos="0 0 -0.99" size="0 0 1" type="plane" material="MatPlane" contype="1" conaffinity="1"/>
+  </worldbody>
+
+</mujoco>
diff --git a/pal_tiago_dual/tiago_dual.png b/pal_tiago_dual/tiago_dual.png
new file mode 100644
index 00000000..3bf8d67d
Binary files /dev/null and b/pal_tiago_dual/tiago_dual.png differ
diff --git a/pal_tiago_dual/tiago_dual.xml b/pal_tiago_dual/tiago_dual.xml
new file mode 100644
index 00000000..dd501862
--- /dev/null
+++ b/pal_tiago_dual/tiago_dual.xml
@@ -0,0 +1,236 @@
+<mujoco model="tiago_dual">
+
+  <compiler angle="radian" meshdir="./assets/" autolimits="true"/>
+
+  <option integrator="implicitfast"/>
+
+  <asset>
+    <material name="black" rgba="0 0 0 1"/>
+    <material name="gray10" rgba="0.1 0.1 0.1 1"/>
+    <material name="gray25" rgba="0.25098 0.25098 0.25098 1"/>
+    <material name="gray70" rgba="0.7 0.7 0.7 1"/>
+    <material name="gray75" rgba="0.75294 0.75294 0.75294 1"/>
+    <material name="mercury" rgba="0.9 0.9 0.9 1"/>
+    <material name="white" rgba="1 1 1 1"/>
+    <material name="orange" rgba="1 0.487 0 1"/>
+    <material name="light_blue" rgba="0.79216 0.81961 0.93333 1"/>
+
+    <mesh file="sensors/sick_tim5511.stl"/>
+    <mesh file="sensors/sick_tim5512.stl"/>
+    <mesh file="base/base_link.stl"/>
+    <mesh file="base/base_dock_link.stl"/>
+    <mesh file="base/base_antena_link1.stl"/>
+    <mesh file="base/base_antena_link2.stl" scale="1 -1 1"/>
+    <mesh file="wheels/suspension_front_link1.stl"/>
+    <mesh file="wheels/wheel_link1.stl"/>
+    <mesh file="wheels/suspension_front_link2.stl" scale="1 -1 1"/>
+    <mesh file="wheels/wheel_link2.stl" scale="1 1 -1"/>
+    <mesh file="wheels/suspension_rear_link1.stl"/>
+    <mesh file="wheels/wheel_link3.stl"/>
+    <mesh file="wheels/suspension_rear_link2.stl" scale="1 -1 1"/>
+    <mesh file="wheels/wheel_link4.stl" scale="1 1 -1"/>
+    <mesh file="torso/torso_fix.stl"/>
+    <mesh file="torso/torso_lift_dual_arm.stl"/>
+    <mesh file="head/head_1.stl"/>
+    <mesh file="head/head_2.stl"/>
+    <mesh file="arm/arm_11.stl" scale="1 -1 -1"/>
+    <mesh file="arm/arm_21.stl" scale="1 1 -1"/>
+    <mesh file="arm/arm_31.stl" scale="1 1 -1"/>
+    <mesh file="arm/arm_41.stl" scale="-1 -1 -1"/>
+    <mesh file="arm/arm_5-wrist-20171.stl" scale="-1 -1 -1"/>
+    <mesh file="arm/arm_6-wrist-20171.stl" scale="-1 1 1"/>
+    <mesh file="gripper_link1.stl"/>
+    <mesh file="gripper_finger_link1.stl" scale="-1 -1 1"/>
+    <mesh file="gripper_finger_link2.stl"/>
+    <mesh file="arm/arm_12.stl" scale="1 -1 1"/>
+    <mesh file="arm/arm_22.stl"/>
+    <mesh file="arm/arm_32.stl"/>
+    <mesh file="arm/arm_42.stl"/>
+    <mesh file="arm/arm_5-wrist-20172.stl"/>
+    <mesh file="arm/arm_6-wrist-20172.stl"/>
+    <mesh file="gripper_link2.stl"/>
+    <mesh file="gripper_finger_link3.stl" scale="-1 -1 1"/>
+    <mesh file="gripper_finger_link4.stl"/>
+  </asset>
+
+  <default class="main">
+    <geom contype="0" conaffinity="1" group="1" type="mesh" mass="0"/>
+    <joint axis="0 0 1"/>
+    <default class="arm">
+      <geom contype="1" conaffinity="1"/>
+      <joint frictionloss="1"/>
+    </default>
+    <default class="wheel">
+      <geom condim="6"/>
+    </default>
+  </default>
+
+  <worldbody>
+    <body name="base_link">
+      <joint name="reference" type="free"/>
+      <!-- Base link inertia was manually added from urdf code -->
+      <!-- <mass value="34.047"/> -->
+      <!-- <inertia ixx="0.22777" ixy="0.00035979" ixz="0.00015269" iyy="0.29991" iyz="1.7872E-05" izz="0.46036"/> -->
+      <inertial pos="-0.00511 -0.00037 0.13715" mass="59.53854" diaginertia="2.326 2.585 3.471"/>
+      <geom pos="0 0 0.0762" material="gray75" mesh="base_link"/>
+      <geom pos="-0.27512 0.18297 0.20864" quat="0 -0.382683 -0.92388 0" material="gray10" mesh="sick_tim5511"/>
+      <geom pos="0.27512 -0.18297 0.20864" quat="0 -0.92388 0.382683 0" material="gray10" mesh="sick_tim5512"/>
+      <geom pos="0.3535 0 0.1358" material="gray25" mesh="base_dock_link"/>
+      <geom pos="-0.2015 -0.13 0.2927" material="gray75" mesh="base_antena_link1"/>
+      <geom pos="-0.2015 0.13 0.2927" material="gray75" mesh="base_antena_link2"/>
+      <geom pos="0.244 -0.1725 0.0762" quat="1 0 0 -1" material="light_blue" mesh="suspension_front_link1"/>
+      <geom pos="0.244 0.1725 0.0762" quat="1 0 0 1" material="light_blue" mesh="suspension_front_link2"/>
+      <geom pos="-0.244 -0.1725 0.0762" quat="1 0 0 -1" material="light_blue" mesh="suspension_rear_link1"/>
+      <geom pos="-0.244 0.1725 0.0762" quat="1 0 0 1" material="light_blue" mesh="suspension_rear_link2"/>
+      <geom pos="-0.062 0 0.2692" material="mercury" mesh="torso_fix"/>
+      <geom size="0.09 0.1 0.275" pos="-0.062 0 0.5462" type="box" material="gray10"/>
+      <body name="wheel_front_right_link" pos="0.244 -0.223175 0.0762" quat="1 -1 0 0" childclass="wheel">
+        <inertial pos="0 0 -0.000226" mass="0.997903" diaginertia="0.000634 0.000634 0.001139"/>
+        <joint name="wheel_front_right_joint"/>
+        <geom material="gray10" mesh="wheel_link1" conaffinity="0"/>
+        <geom type="cylinder" size="0.0762 0.025" group="3"/>
+      </body>
+      <body name="wheel_front_left_link" pos="0.244 0.223175 0.0762" quat="1 -1 0 0" childclass="wheel">
+        <inertial pos="0 0 -0.000226" mass="0.997903" diaginertia="0.000634 0.000634 0.001139"/>
+        <joint name="wheel_front_left_joint"/>
+        <geom material="gray10" mesh="wheel_link2" conaffinity="0"/>
+        <geom type="cylinder" size="0.0762 0.025" group="3"/>
+      </body>
+      <body name="wheel_rear_right_link" pos="-0.244 -0.223175 0.0762" quat="1 -1 0 0" childclass="wheel">
+        <inertial pos="0 0 -0.000226" mass="0.997903" diaginertia="0.000634 0.000634 0.001139"/>
+        <joint name="wheel_rear_right_joint"/>
+        <geom material="gray10" mesh="wheel_link3" conaffinity="0"/>
+        <geom type="cylinder" size="0.0762 0.025" group="3"/>
+      </body>
+      <body name="wheel_rear_left_link" pos="-0.244 0.223175 0.0762" quat="1 -1 0 0" childclass="wheel">
+        <inertial pos="0 0 -0.000226" mass="0.997903" diaginertia="0.000634 0.000634 0.001139"/>
+        <joint name="wheel_rear_left_joint"/>
+        <geom material="gray10" mesh="wheel_link4" conaffinity="0"/>
+        <geom type="cylinder" size="0.0762 0.025" group="3"/>
+      </body>
+      <body name="torso_lift_link" pos="-0.062 0 0.8662">
+        <inertial pos="0.039536 -0.002841 -0.190987" mass="7.338946" diaginertia="0.229088 0.245188 0.092397"/>
+        <joint name="torso_lift_joint" type="slide" range="0 0.35" damping="1000"/>
+        <geom material="white" mesh="torso_lift_dual_arm"/>
+        <body name="head_1_link" pos="0.182 0 0">
+          <inertial pos="-0.00508 0.00237 0.07229" mass="0.6222" diaginertia="0.00140223 0.00121968 0.000861083"/>
+          <joint name="head_1_joint" range="-1.309 1.309" damping="0.5"/>
+          <geom material="white" mesh="head_1"/>
+          <body name="head_2_link" pos="0.005 0 0.098" quat="1 1 0 0">
+            <inertial pos="0.0558274 0.0609987 1.58542e-05" mass="0.88693" diaginertia="0.00554181 0.00436261 0.00347586"/>
+            <joint name="head_2_joint" range="-1.0472 0.785398" damping="0.5"/>
+            <geom material="white" mesh="head_2"/>
+          </body>
+        </body>
+        <body name="arm_left_1_link" pos="0.02556 0.19 -0.171" quat="0 1 1 0" childclass="arm">
+          <inertial pos="0.061191 -0.022397 0.012835" mass="1.56343" diaginertia="0.00510233 0.00510233 0.00510233"/>
+          <joint name="arm_left_1_joint" range="-1.1781 1.5708" damping="40"/>
+          <geom material="white" mesh="arm_11"/>
+          <body name="arm_left_2_link" pos="0.125 -0.0195 0.031" quat="1 1 0 0">
+            <inertial pos="0.030432 0.000229 0.005942" mass="1.8004" diaginertia="0.00437039 0.00432895 0.00178367"/>
+            <joint name="arm_left_2_joint" range="-1.1781 1.5708" damping="40"/>
+            <geom material="gray10" mesh="arm_21"/>
+            <body name="arm_left_3_link" pos="0.0895 0 -0.0015" quat="0.5 0.5 0.5 0.5">
+              <inertial pos="0.007418 -0.004361 0.134194" mass="1.8" diaginertia="0.0199798 0.0197147 0.00264646"/>
+              <joint name="arm_left_3_joint" range="-0.785398 3.92699" damping="40"/>
+              <geom material="gray10" mesh="arm_31"/>
+              <body name="arm_left_4_link" pos="-0.02 -0.027 0.222" quat="0.5 0.5 -0.5 0.5">
+                <inertial pos="0.095658 -0.014666 -0.018133" mass="1.4327" diaginertia="0.002040 0.008424 0.008686"/>
+                <joint name="arm_left_4_joint" range="-0.392699 2.35619" damping="40"/>
+                <geom material="gray10" mesh="arm_41"/>
+                <body name="arm_left_5_link" pos="0.162 -0.02 -0.027" quat="1 0 -1 0">
+                  <inertial pos="0.001078 -0.000151 0.077173" mass="1.65582" diaginertia="0.00614362 0.00564 0.001797"/>
+                  <joint name="arm_left_5_joint" range="-2.0944 2.0944" damping="1"/>
+                  <geom material="mercury" mesh="arm_5-wrist-20171"/>
+                  <body name="arm_left_6_link" pos="0 0 -0.15" quat="0.5 -0.5 -0.5 -0.5">
+                    <inertial pos="-0.000153 -0.003122 0.000183" mass="0.370063" diaginertia="0.000215 0.000174828 0.000169172"/>
+                    <joint name="arm_left_6_joint" range="-1.41372 1.41372" damping="1"/>
+                    <geom material="mercury" mesh="arm_6-wrist-20171"/>
+                    <body name="arm_left_7_link" quat="0.5 0.5 0.5 0.5">
+                      <inertial pos="0.000156301 0.000155213 -0.07437" mass="1.13701" diaginertia="0.00313273 0.00277743 0.000778245"/>
+                      <joint name="arm_left_7_joint" range="-2.0944 2.0944" damping="1"/>
+                      <geom size="0.005 0.0025" pos="0 0 -0.047" quat="0 -1 1 0" type="cylinder" material="mercury"/>
+                      <geom size="0.0225 0.00785" pos="0 0 -0.05385" quat="0 0 1 0" type="cylinder" material="mercury"/>
+                      <geom size="0.025 0.004875" pos="0 0 -0.066575" quat="0 -1 1 0" type="cylinder" material="gray10"/>
+                      <geom pos="0 0 -0.076575" quat="1 0 0 -1" material="white" mesh="gripper_link1"/>
+                      <body name="gripper_left_right_finger_link" pos="0 0 -0.076575" quat="1 0 0 -1">
+                        <inertial pos="0.008658 0.019724 -0.149125" mass="0.107001" diaginertia="0.000242 0.000236 0.000018"/>
+                        <joint name="gripper_left_right_finger_joint" axis="1 0 0" type="slide" range="0 0.045"
+                          damping="1"/>
+                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_finger_link1"/>
+                      </body>
+                      <body name="gripper_left_left_finger_link" pos="0 0 -0.076575" quat="1 0 0 -1">
+                        <inertial pos="-0.008658 -0.019724 -0.149125" mass="0.107001" diaginertia="0.000242 0.000236 0.000018"/>
+                        <joint name="gripper_left_left_finger_joint" axis="-1 0 0" type="slide" range="0 0.045"
+                          damping="1"/>
+                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_finger_link2"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="arm_right_1_link" pos="0.02556 -0.19 -0.171" quat="1 0 0 -1" childclass="arm">
+          <inertial pos="0.061191 -0.022397 -0.012835" mass="1.56343" diaginertia="0.00510233 0.00510233 0.00510233"/>
+          <joint name="arm_right_1_joint" range="-1.1781 1.5708" damping="40"/>
+          <geom material="white" mesh="arm_12"/>
+          <body name="arm_right_2_link" pos="0.125 -0.0195 -0.031" quat="1 -1 0 0">
+            <inertial pos="0.030432 0.000229 -0.005942" mass="1.8004" diaginertia="0.00437229 0.00432701 0.0017837"/>
+            <joint name="arm_right_2_joint" range="-1.1781 1.5708" damping="40"/>
+            <geom material="gray10" mesh="arm_22"/>
+            <body name="arm_right_3_link" pos="0.0895 0 -0.0015" quat="0.5 -0.5 -0.5 0.5">
+              <inertial pos="0.007418 -0.004361 -0.134194" mass="1.8" diaginertia="0.0200771 0.0196154 0.00264853"/>
+              <joint name="arm_right_3_joint" range="-3.53429 1.5708" damping="40"/>
+              <geom material="gray10" mesh="arm_32"/>
+              <body name="arm_right_4_link" pos="-0.02 -0.027 -0.222" quat="0.5 -0.5 -0.5 -0.5">
+                <inertial pos="-0.095658 0.014666 0.018133" mass="1.4327" diaginertia="0.002040 0.008424 0.008686"/>
+                <joint name="arm_right_4_joint" range="-0.392699 2.35619" damping="40"/>
+                <geom material="gray10" mesh="arm_42"/>
+                <body name="arm_right_5_link" pos="-0.162 0.02 0.027" quat="1 0 -1 0">
+                  <inertial pos="0.001078 -0.000151 -0.077173" mass="0.935914" diaginertia="0.00103619 0.000794527 0.000439824"/>
+                  <joint name="arm_right_5_joint" range="-2.0944 2.0944" damping="1"/>
+                  <geom material="mercury" mesh="arm_5-wrist-20172"/>
+                  <body name="arm_right_6_link" pos="0 0 0.15" quat="0.5 -0.5 -0.5 -0.5">
+                    <inertial pos="-0.000153 -0.003122 0.000183" mass="0.302758" diaginertia="3.85419e-05 3.33205e-05 3.29226e-05"/>
+                    <joint name="arm_right_6_joint" range="-1.41372 1.41372" damping="1"/>
+                    <geom material="mercury" mesh="arm_6-wrist-20172"/>
+                    <body name="arm_right_7_link" quat="0.5 0.5 0.5 0.5">
+                      <inertial pos="-0.000173894 0.000176395 0.0817355" mass="1.00276" diaginertia="0.0025841 0.0022568 0.000746434"/>
+                      <joint name="arm_right_7_joint" range="-2.0944 2.0944" damping="1"/>
+                      <geom size="0.005 0.0025" pos="0 0 0.047" quat="-1 0 0 1" type="cylinder" material="mercury"/>
+                      <geom size="0.0225 0.00785" pos="0 0 0.05385" quat="-1 0 0 0" type="cylinder" material="mercury"/>
+                      <geom size="0.025 0.004875" pos="0 0 0.066575" quat="-1 0 0 1" type="cylinder" material="gray10"/>
+                      <geom pos="0 0 0.076575" quat="0 -1 1 0" material="white" mesh="gripper_link2"/>
+                      <body name="gripper_right_right_finger_link" pos="0 0 0.076575" quat="0 -1 1 0">
+                        <inertial pos="0.008658 0.019724 -0.149125" mass="0.107001" diaginertia="0.000242 0.000236 0.000018"/>
+                        <joint name="gripper_right_right_finger_joint" axis="1 0 0" type="slide" range="0 0.045"
+                          damping="1"/>
+                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_finger_link3"/>
+                      </body>
+                      <body name="gripper_right_left_finger_link" pos="0 0 0.076575" quat="0 -1 1 0">
+                        <inertial pos="-0.008658 -0.019724 -0.149125" mass="0.107001" diaginertia="0.000242 0.000236 0.000018"/>
+                        <joint name="gripper_right_left_finger_joint" axis="-1 0 0" type="slide" range="0 0.045"
+                          damping="1"/>
+                        <geom quat="4.63268e-05 0 0 1" material="black" mesh="gripper_finger_link4"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <contact>
+    <exclude body1="arm_left_2_link" body2="torso_lift_link"/>
+    <exclude body1="arm_right_2_link" body2="torso_lift_link"/>
+    <exclude body1="gripper_left_right_finger_link" body2="gripper_left_left_finger_link"/>
+    <exclude body1="gripper_right_right_finger_link" body2="gripper_right_left_finger_link"/>
+  </contact>
+
+</mujoco>
diff --git a/pal_tiago_dual/tiago_dual_motor.xml b/pal_tiago_dual/tiago_dual_motor.xml
new file mode 100644
index 00000000..f7beb22c
--- /dev/null
+++ b/pal_tiago_dual/tiago_dual_motor.xml
@@ -0,0 +1,40 @@
+<mujoco model="tiago_dual">
+  
+  <include file="tiago_dual.xml"/>
+  <actuator>
+    <!-- Omni base actuators -->
+    <velocity name="wheel_front_right_joint_velocity" joint="wheel_front_right_joint" kv="2000" forcerange="-400.0 400.0" />
+    <velocity name="wheel_front_left_joint_velocity" joint="wheel_front_left_joint" kv="2000" forcerange="-400.0 400.0" />
+    <velocity name="wheel_rear_right_joint_velocity" joint="wheel_rear_right_joint" kv="2000" forcerange="-400.0 400.0" />
+    <velocity name="wheel_rear_left_joint_velocity" joint="wheel_rear_left_joint" kv="2000" forcerange="-400.0 400.0" />
+    
+    <!-- Torso actuator -->
+    <position name="torso_lift_joint_position" joint="torso_lift_joint" kp="50000" inheritrange="1.0" forcerange="-2000 2000" />
+    <!-- Head actuators -->
+    <position name="head_1_joint_position" joint="head_1_joint" kp="20" inheritrange="1.0" forcerange="-5.197 5.197" />
+    <position name="head_2_joint_position" joint="head_2_joint" kp="20" inheritrange="1.0" forcerange="-2.77 2.77" />
+
+    <!-- Left arm actuators -->
+    <motor name="arm_left_1_joint_torque" joint="arm_left_1_joint" forcerange="-43.0 43.0" />
+    <motor name="arm_left_2_joint_torque" joint="arm_left_2_joint" forcerange="-43.0 43.0" />
+    <motor name="arm_left_3_joint_torque" joint="arm_left_3_joint" forcerange="-26 26" />
+    <motor name="arm_left_4_joint_torque" joint="arm_left_4_joint" forcerange="-26 26" />
+    <motor name="arm_left_5_joint_torque" joint="arm_left_5_joint" forcerange="-3 3" />
+    <motor name="arm_left_6_joint_torque" joint="arm_left_6_joint" forcerange="-6.6 6.6" />
+    <motor name="arm_left_7_joint_torque" joint="arm_left_7_joint" forcerange="-6.6 6.6" />
+    <position name="gripper_left_left_finger_joint_position" joint="gripper_left_left_finger_joint" kp="500" inheritrange="0.999" />
+    <position name="gripper_left_right_finger_joint_position" joint="gripper_left_right_finger_joint" kp="500" inheritrange="0.999" />
+
+    <!-- Right arm actuators -->
+    <motor name="arm_right_1_joint_torque" joint="arm_right_1_joint" forcerange="-43.0 43.0" />
+    <motor name="arm_right_2_joint_torque" joint="arm_right_2_joint" forcerange="-43.0 43.0" />
+    <motor name="arm_right_3_joint_torque" joint="arm_right_3_joint" forcerange="-26 26" />
+    <motor name="arm_right_4_joint_torque" joint="arm_right_4_joint" forcerange="-26 26" />
+    <motor name="arm_right_5_joint_torque" joint="arm_right_5_joint" forcerange="-3 3" />
+    <motor name="arm_right_6_joint_torque" joint="arm_right_6_joint" forcerange="-6.6 6.6" />
+    <motor name="arm_right_7_joint_torque" joint="arm_right_7_joint" forcerange="-6.6 6.6" />
+    <position name="gripper_right_left_finger_joint_position" joint="gripper_right_left_finger_joint" kp="500" inheritrange="0.999"/>
+    <position name="gripper_right_right_finger_joint_position" joint="gripper_right_right_finger_joint" kp="500" inheritrange="0.999"/>
+  </actuator>
+
+</mujoco>
diff --git a/pal_tiago_dual/tiago_dual_position.xml b/pal_tiago_dual/tiago_dual_position.xml
new file mode 100644
index 00000000..b2f4fa83
--- /dev/null
+++ b/pal_tiago_dual/tiago_dual_position.xml
@@ -0,0 +1,40 @@
+<mujoco model="tiago_dual">
+  
+  <include file="tiago_dual.xml"/>
+  <actuator>
+    <!-- Omni base actuators -->
+    <velocity name="wheel_front_right_joint_velocity" joint="wheel_front_right_joint" ctrlrange="-5 5" kv="2000" forcerange="-400.0 400.0" />
+    <velocity name="wheel_front_left_joint_velocity" joint="wheel_front_left_joint" ctrlrange="-5 5" kv="2000" forcerange="-400.0 400.0" />
+    <velocity name="wheel_rear_right_joint_velocity" joint="wheel_rear_right_joint" ctrlrange="-5 5" kv="2000" forcerange="-400.0 400.0" />
+    <velocity name="wheel_rear_left_joint_velocity" joint="wheel_rear_left_joint" ctrlrange="-5 5" kv="2000" forcerange="-400.0 400.0" />
+    
+    <!-- Torso actuator -->
+    <position name="torso_lift_joint_position" joint="torso_lift_joint" kp="50000" inheritrange="0.98" forcerange="-500 500" dampratio="1.0"/>
+    <!-- Head actuators -->
+    <position name="head_1_joint_position" joint="head_1_joint" kp="20" inheritrange="0.93" forcerange="-5.197 5.197" dampratio="1.0"/>
+    <position name="head_2_joint_position" joint="head_2_joint" kp="20" inheritrange="0.93" forcerange="-2.77 2.77" dampratio="1.0"/>
+
+    <!-- Left arm actuators -->
+    <position name="arm_left_1_joint_position" joint="arm_left_1_joint" inheritrange="1.0" kp="250" dampratio="1.0" forcerange="-53 53"/>
+    <position name="arm_left_2_joint_position" joint="arm_left_2_joint" inheritrange="1.0" kp="1500" dampratio="1.0" forcerange="-53 53"/>
+    <position name="arm_left_3_joint_position" joint="arm_left_3_joint" inheritrange="1.0" kp="600" dampratio="1.0" forcerange="-30 30"/>
+    <position name="arm_left_4_joint_position" joint="arm_left_4_joint" inheritrange="1.0" kp="1000" dampratio="1.0" forcerange="-30 30"/>
+    <position name="arm_left_5_joint_position" joint="arm_left_5_joint" inheritrange="1.0" kp="80" dampratio="1.0" forcerange="-3 3"/>
+    <position name="arm_left_6_joint_position" joint="arm_left_6_joint" inheritrange="1.0" kp="80" dampratio="1.0" forcerange="-6.6 6.6"/>
+    <position name="arm_left_7_joint_position" joint="arm_left_7_joint" inheritrange="1.0" kp="80" dampratio="1.0" forcerange="-6.6 6.6"/>
+    <position name="gripper_left_left_finger_joint_position" joint="gripper_left_left_finger_joint" kp="500" inheritrange="0.999" dampratio="1.0" forcerange="-5.197 5.197"/>
+    <position name="gripper_left_right_finger_joint_position" joint="gripper_left_right_finger_joint" kp="500" inheritrange="0.999" dampratio="1.0" forcerange="-5.197 5.197"/>
+
+    <!-- Right arm actuators -->
+    <position name="arm_right_1_joint_position" joint="arm_right_1_joint" inheritrange="1.0" kp="250" dampratio="1.0" forcerange="-53 53"/>
+    <position name="arm_right_2_joint_position" joint="arm_right_2_joint" inheritrange="1.0" kp="1500" dampratio="1.0" forcerange="-53 53"/>
+    <position name="arm_right_3_joint_position" joint="arm_right_3_joint" inheritrange="1.0" kp="600" dampratio="1.0" forcerange="-30 30"/>
+    <position name="arm_right_4_joint_position" joint="arm_right_4_joint" inheritrange="1.0" kp="1000" dampratio="1.0" forcerange="-30 30"/>
+    <position name="arm_right_5_joint_position" joint="arm_right_5_joint" inheritrange="1.0" kp="80" dampratio="1.0" forcerange="-3 3"/>
+    <position name="arm_right_6_joint_position" joint="arm_right_6_joint" inheritrange="1.0" kp="80" dampratio="1.0" forcerange="-6.6 6.6"/>
+    <position name="arm_right_7_joint_position" joint="arm_right_7_joint" inheritrange="1.0" kp="80" dampratio="1.0" forcerange="-6.6 6.6"/>
+    <position name="gripper_right_left_finger_joint_position" joint="gripper_right_left_finger_joint" kp="500" inheritrange="0.999" dampratio="1.0" forcerange="-5.197 5.197"/>
+    <position name="gripper_right_right_finger_joint_position" joint="gripper_right_right_finger_joint" kp="500" inheritrange="0.999" dampratio="1.0" forcerange="-5.197 5.197"/>
+  </actuator>
+
+</mujoco>
diff --git a/pal_tiago_dual/tiago_dual_velocity.xml b/pal_tiago_dual/tiago_dual_velocity.xml
new file mode 100644
index 00000000..3635a268
--- /dev/null
+++ b/pal_tiago_dual/tiago_dual_velocity.xml
@@ -0,0 +1,40 @@
+<mujoco model="tiago_dual">
+  
+  <include file="tiago_dual.xml"/>
+  <actuator>
+    <!-- Omni base actuators -->
+    <velocity name="wheel_front_right_joint_velocity" joint="wheel_front_right_joint" kv="2000" forcerange="-400.0 400.0" />
+    <velocity name="wheel_front_left_joint_velocity" joint="wheel_front_left_joint" kv="2000" forcerange="-400.0 400.0" />
+    <velocity name="wheel_rear_right_joint_velocity" joint="wheel_rear_right_joint" kv="2000" forcerange="-400.0 400.0" />
+    <velocity name="wheel_rear_left_joint_velocity" joint="wheel_rear_left_joint" kv="2000" forcerange="-400.0 400.0" />
+    
+    <!-- Torso actuator -->
+    <position name="torso_lift_joint_position" joint="torso_lift_joint" kp="50000" inheritrange="1.0" forcerange="-2000 2000" />
+    <!-- Head actuators -->
+    <position name="head_1_joint_position" joint="head_1_joint" kp="20" inheritrange="1.0" forcerange="-5.197 5.197" />
+    <position name="head_2_joint_position" joint="head_2_joint" kp="20" inheritrange="1.0" forcerange="-2.77 2.77" />
+
+    <!-- Left arm actuators -->
+    <velocity name="arm_left_1_joint_velocity" joint="arm_left_1_joint" kv="5000" />
+    <velocity name="arm_left_2_joint_velocity" joint="arm_left_2_joint" kv="100000" />
+    <velocity name="arm_left_3_joint_velocity" joint="arm_left_3_joint" kv="5000" />
+    <velocity name="arm_left_4_joint_velocity" joint="arm_left_4_joint" kv="50000" />
+    <velocity name="arm_left_5_joint_velocity" joint="arm_left_5_joint" kv="2000" />
+    <velocity name="arm_left_6_joint_velocity" joint="arm_left_6_joint" kv="2000" />
+    <velocity name="arm_left_7_joint_velocity" joint="arm_left_7_joint" kv="2000" />
+    <position name="gripper_left_left_finger_joint_position" joint="gripper_left_left_finger_joint" kp="500" inheritrange="0.999" />
+    <position name="gripper_left_right_finger_joint_position" joint="gripper_left_right_finger_joint" kp="500" inheritrange="0.999" />
+
+    <!-- Right arm actuators -->
+    <velocity name="arm_right_1_joint_velocity" joint="arm_right_1_joint" kv="5000" />
+    <velocity name="arm_right_2_joint_velocity" joint="arm_right_2_joint" kv="100000" />
+    <velocity name="arm_right_3_joint_velocity" joint="arm_right_3_joint" kv="5000" />
+    <velocity name="arm_right_4_joint_velocity" joint="arm_right_4_joint" kv="50000" />
+    <velocity name="arm_right_5_joint_velocity" joint="arm_right_5_joint" kv="2000" />
+    <velocity name="arm_right_6_joint_velocity" joint="arm_right_6_joint" kv="2000" />
+    <velocity name="arm_right_7_joint_velocity" joint="arm_right_7_joint" kv="2000" />
+    <position name="gripper_right_left_finger_joint_position" joint="gripper_right_left_finger_joint" kp="500" inheritrange="0.999"/>
+    <position name="gripper_right_right_finger_joint_position" joint="gripper_right_right_finger_joint" kp="500" inheritrange="0.999"/>
+  </actuator>
+
+</mujoco>