diff --git a/README.md b/README.md
index 55620e89..ee3c5b11 100644
--- a/README.md
+++ b/README.md
@@ -229,8 +229,9 @@ Menagerie, see [CONTRIBUTING](CONTRIBUTING.md).
 | Stanford TidyBot | Stanford University | 11 | [MIT](stanford_tidybot/LICENSE) |✖️|
 | Stretch 2 | Hello Robot | 17 | [Clear BSD](hello_robot_stretch/LICENSE) |✖️|
 | Stretch 3 | Hello Robot | 17 | [Apache-2.0](hello_robot_stretch_3/LICENSE) |✖️|
-| PAL Tiago | PAL Robotics | 12 | [Apache-2.0](pal_tiago/LICENSE) |✖️|
-| PAL Tiago Dual | PAL Robotics | 21 | [Apache-2.0](pal_tiago_dual/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) |✖️|
+| PAL TIAGo Pro | PAL Robotics | 21 | [Apache-2.0](pal_tiago_pro/LICENSE) |✖️|
 
 **Mobile Bases.**
 
diff --git a/pal_tiago_pro/CHANGELOG.md b/pal_tiago_pro/CHANGELOG.md
new file mode 100644
index 00000000..92ba439f
--- /dev/null
+++ b/pal_tiago_pro/CHANGELOG.md
@@ -0,0 +1,6 @@
+# Changelog – TIAGo Pro Description
+
+All notable changes to this model will be documented in this file.
+
+## [2025-07-22]
+- Initial release.
diff --git a/pal_tiago_pro/LICENSE b/pal_tiago_pro/LICENSE
new file mode 100644
index 00000000..fa1f2f47
--- /dev/null
+++ b/pal_tiago_pro/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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+   5. Submission of Contributions. Unless You explicitly state otherwise,
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+   6. Trademarks. This License does not grant permission to use the trade
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+
+   9. Accepting Warranty or Additional Liability. While redistributing
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+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
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+   Copyright [2025] [PAL Robotics S.L]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
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diff --git a/pal_tiago_pro/README.md b/pal_tiago_pro/README.md
new file mode 100644
index 00000000..ebeb0ba8
--- /dev/null
+++ b/pal_tiago_pro/README.md
@@ -0,0 +1,37 @@
+## TIAGo Pro Description (MJCF)
+
+> [!IMPORTANT]
+> Requires MuJoCo 2.2.2 or later.
+
+## Changelog
+
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+
+### Overview
+
+This package contains a simplified robot description (MJCF) of the [TIAGo Pro Robot](https://pal-robotics.com/robot/tiago-pro/) by [PAL Robotics](https://pal-robotics.com/). It is derived from the publicly available [URDF description](https://github.com/pal-robotics/tiago_pro_robot/tree/humble-devel/tiago_pro_description).
+
+<p float="left">
+  <img src="tiago_pro.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_pro/scene_motor.xml b/pal_tiago_pro/scene_motor.xml
new file mode 100644
index 00000000..1cbd2e40
--- /dev/null
+++ b/pal_tiago_pro/scene_motor.xml
@@ -0,0 +1,22 @@
+<mujoco model="tiago pro motor scene">   
+    
+  <include file="tiago_pro_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>
+
+  <worldbody>
+    <light mode="targetbody" name="spotlight" pos="1 0 10" target="base_footprint" />
+    <geom conaffinity="1" contype="1" friction="0.001 0.0 0.0" group="0" material="groundplane" name="floor" size="0 0 0.05" type="plane" />
+  </worldbody>
+
+  <asset>
+    <texture builtin="gradient" height="3072" rgb1="0.3 0.5 0.7" rgb2="0 0 0" type="skybox" width="512" />
+    <texture builtin="checker" height="300" mark="edge" markrgb="0.8 0.8 0.8" name="groundplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" type="2d" width="300" />
+    <material name="groundplane" reflectance="0.2" texrepeat="5 5" texture="groundplane" texuniform="true" />
+  </asset>
+
+</mujoco>
\ No newline at end of file
diff --git a/pal_tiago_pro/scene_position.xml b/pal_tiago_pro/scene_position.xml
new file mode 100644
index 00000000..ea880549
--- /dev/null
+++ b/pal_tiago_pro/scene_position.xml
@@ -0,0 +1,22 @@
+<mujoco model="tiago pro position scene">   
+
+  <include file="tiago_pro_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>
+
+  <worldbody>
+    <light mode="targetbody" name="spotlight" pos="1 0 10" target="base_footprint" />
+    <geom conaffinity="1" contype="1" friction="0.001 0.0 0.0" group="0" material="groundplane" name="floor" size="0 0 0.05" type="plane" />
+  </worldbody>
+
+  <asset>
+    <texture builtin="gradient" height="3072" rgb1="0.3 0.5 0.7" rgb2="0 0 0" type="skybox" width="512" />
+    <texture builtin="checker" height="300" mark="edge" markrgb="0.8 0.8 0.8" name="groundplane" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" type="2d" width="300" />
+    <material name="groundplane" reflectance="0.2" texrepeat="5 5" texture="groundplane" texuniform="true" />
+  </asset>
+    
+</mujoco>
\ No newline at end of file
diff --git a/pal_tiago_pro/tiago_pro.png b/pal_tiago_pro/tiago_pro.png
new file mode 100644
index 00000000..548c809a
Binary files /dev/null and b/pal_tiago_pro/tiago_pro.png differ
diff --git a/pal_tiago_pro/tiago_pro.xml b/pal_tiago_pro/tiago_pro.xml
new file mode 100644
index 00000000..b6861516
--- /dev/null
+++ b/pal_tiago_pro/tiago_pro.xml
@@ -0,0 +1,383 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<mujoco model="tiago_pro">
+  <compiler angle="radian" balanceinertia="true" discardvisual="false" strippath="false" />
+  <option integrator="implicitfast" />
+  <asset>
+    <mesh name="sick_tim551" content_type="model/stl" file="./assets/laser/sick_tim551.stl" />
+    <mesh name="base_link" content_type="model/stl" file="./assets/base/base_link.stl" />
+    <mesh name="base_dock_link" content_type="model/stl" file="./assets/base/base_dock_link.stl" />
+    <mesh name="base_antena_link" content_type="model/stl" file="./assets/base/base_antena_link.stl" />
+    <mesh name="base_antena_link1" content_type="model/stl" file="./assets/base/base_antena_link.stl" scale="1 -1 1" />
+    <mesh name="suspension_front_link" content_type="model/stl" file="./assets/wheels/suspension_front_link.stl" />
+    <mesh name="wheel_link" content_type="model/stl" file="./assets/wheels/wheel_link.stl" />
+    <mesh name="suspension_front_link1" content_type="model/stl" file="./assets/wheels/suspension_front_link.stl" scale="1 -1 1" />
+    <mesh name="wheel_link1" content_type="model/stl" file="./assets/wheels/wheel_link.stl" scale="1 1 -1" />
+    <mesh name="suspension_rear_link" content_type="model/stl" file="./assets/wheels/suspension_rear_link.stl" />
+    <mesh name="suspension_rear_link1" content_type="model/stl" file="./assets/wheels/suspension_rear_link.stl" scale="1 -1 1" />
+    <mesh name="torso_fixed" content_type="model/stl" file="./assets/torso/torso_fixed.stl" />
+    <mesh name="torso_fixed_collision" content_type="model/stl" file="./assets/torso/torso_fixed_collision.stl" scale="0.9 0.9 1.0" />
+    <mesh name="torso_lift_link" content_type="model/stl" file="./assets/torso/torso_lift_link.stl" />
+    <mesh name="torso_lift_link_collision" content_type="model/stl" file="./assets/torso/torso_lift_link_collision.stl" />
+    <mesh name="laptop_tray_collision" content_type="model/stl" file="./assets/torso/laptop_tray_collision.stl" />
+    <mesh name="head_1_link" content_type="model/stl" file="./assets/head/head_1_link.stl" />
+    <mesh name="head_1_link_collision" content_type="model/stl" file="./assets/head/head_1_link_collision.stl" />
+    <mesh name="realsense-d435_cover_link" content_type="model/stl" file="./assets/head/realsense-d435_cover_link.stl" />
+    <mesh name="head_2_link" content_type="model/stl" file="./assets/head/head_2_link.stl" />
+    <mesh name="head_2_link_collision" content_type="model/stl" file="./assets/head/head_2_link_collision.stl" />
+    <mesh name="d435_simplified" content_type="model/stl" file="./assets/real_sense/d435_simplified.stl" />
+    <mesh name="arm_base_link" content_type="model/stl" file="./assets/arm_tiago_pro/arm_base_link.stl" />
+    <mesh name="arm_1_link" content_type="model/stl" file="./assets/arm_tiago_pro/arm_1_link.stl" />
+    <mesh name="arm_1_link_collision" content_type="model/stl" file="./assets/arm_tiago_pro/arm_1_link_collision.stl" />
+    <mesh name="arm_2_link" content_type="model/stl" file="./assets/arm_tiago_pro/arm_2_link.stl" />
+    <mesh name="arm_2_link_collision" content_type="model/stl" file="./assets/arm_tiago_pro/arm_2_link_collision.stl" />
+    <mesh name="arm_3_link" content_type="model/stl" file="./assets/arm_tiago_pro/arm_3_link.stl" />
+    <mesh name="arm_3_link_collision" content_type="model/stl" file="./assets/arm_tiago_pro/arm_3_link_collision.stl" />
+    <mesh name="arm_4_link" content_type="model/stl" file="./assets/arm_tiago_pro/arm_4_link.stl" />
+    <mesh name="arm_4_link_collision" content_type="model/stl" file="./assets/arm_tiago_pro/arm_4_link_collision.stl" />
+    <mesh name="arm_5_link" content_type="model/stl" file="./assets/arm_tiago_pro/spherical-wrist/arm_5_link.stl" />
+    <mesh name="arm_5_link_collision" content_type="model/stl" file="./assets/arm_tiago_pro/spherical-wrist/arm_5_link_collision.stl" />
+    <mesh name="arm_6_link" content_type="model/stl" file="./assets/arm_tiago_pro/spherical-wrist/arm_6_link.stl" />
+    <mesh name="arm_6_link_collision" content_type="model/stl" file="./assets/arm_tiago_pro/spherical-wrist/arm_6_link_collision.stl" />
+    <mesh name="arm_7_link" content_type="model/stl" file="./assets/arm_tiago_pro/spherical-wrist/arm_7_link.stl" />
+    <mesh name="end_effector_camera_realsense_d435" content_type="model/stl" file="./assets/arm_tiago_pro/end_effector_camera_realsense_d435.stl" />
+    <mesh name="base_link_tc" content_type="model/stl" file="./assets/pal_pro_gripper/base_link_tc.stl" />
+    <mesh name="inner_finger" content_type="model/stl" file="./assets/pal_pro_gripper/inner_finger.stl" />
+    <mesh name="outer_finger" content_type="model/stl" file="./assets/pal_pro_gripper/outer_finger.stl" />
+    <mesh name="fingertip" content_type="model/stl" file="./assets/pal_pro_gripper/fingertip.stl" />
+  </asset>
+  <worldbody>
+    <body name="base_footprint">
+      <joint name="free_floating" type="free" limited="false" actuatorfrclimited="false" />
+      <geom pos="0 0 0.0762" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="base_link" />
+      <geom size="0.3585 0.2485 0.04225" pos="0 0 0.26545" type="box" rgba="0.75294 0.75294 0.75294 1" group="3" />
+      <geom size="0.29 0.195 0.015" pos="0 0 0.2082" type="box" rgba="0.75294 0.75294 0.75294 1" group="3" />
+      <geom size="0.3525 0.24 0.0835" pos="0 0 0.1097" type="box" rgba="0.75294 0.75294 0.75294 1" group="3" />
+      <geom pos="-0.27512 0.18297 0.20864" quat="0 -0.382683 -0.92388 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="sick_tim551" />
+      <geom size="0.01 0.005" pos="-0.27512 0.18297 0.20864" quat="0 -0.382683 -0.92388 0" type="cylinder" rgba="0.1 0.1 0.1 1" group="3" />
+      <geom pos="0.27512 -0.18297 0.20864" quat="0 -0.92388 0.382683 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="sick_tim551" />
+      <geom size="0.01 0.005" pos="0.27512 -0.18297 0.20864" quat="0 -0.92388 0.382683 0" type="cylinder" rgba="0.1 0.1 0.1 1" group="3" />
+      <geom pos="0.3535 0 0.1358" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.25098 0.25098 0.25098 1" mesh="base_dock_link" />
+      <geom pos="0.3535 0 0.1358" type="mesh" rgba="0.25098 0.25098 0.25098 1" mesh="base_dock_link" group="3" />
+      <geom pos="-0.2015 -0.13 0.2927" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="base_antena_link" />
+      <geom pos="-0.2015 -0.13 0.2927" quat="1 0 0 0" type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="base_antena_link" group="3" />
+      <geom pos="-0.2015 0.13 0.2927" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="base_antena_link1" />
+      <geom pos="-0.2015 0.13 0.2927" quat="1 0 0 0" type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="base_antena_link" group="3" />
+      <geom pos="0.244 -0.1725 0.0762" quat="0.707107 0 0 -0.707107" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="suspension_front_link" />
+      <geom pos="0.244 -0.1725 0.0762" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="suspension_front_link" group="3" />
+      <geom pos="0.244 0.1725 0.0762" quat="0.707107 0 0 0.707107" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="suspension_front_link1" />
+      <geom pos="0.244 0.1725 0.0762" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="suspension_front_link" group="3" />
+      <geom pos="-0.244 -0.1725 0.0762" quat="0.707107 0 0 -0.707107" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="suspension_rear_link" />
+      <geom pos="-0.244 -0.1725 0.0762" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="suspension_rear_link" group="3" />
+      <geom pos="-0.244 0.1725 0.0762" quat="0.707107 0 0 0.707107" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="suspension_rear_link1" />
+      <geom pos="-0.244 0.1725 0.0762" quat="0.707107 0 0 0.707107" type="mesh" rgba="0.79216 0.81961 0.93333 1" mesh="suspension_rear_link" group="3" />
+      <geom pos="-0.0245 0 0.2912" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="torso_fixed" />
+      <geom pos="-0.0245 0 0.2912" quat="1 0 0 0" type="mesh" rgba="0.29804 0.29804 0.29804 1" mesh="torso_fixed_collision" group="3" />
+      <geom size="0.09 0.1 0.275" pos="-0.028 0 0.5562" type="box" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" />
+      <body name="wheel_front_right_link" pos="0.244 -0.223175 0.0762" quat="0.707107 -0.707107 0 0">
+        <inertial pos="5.4922e-09 6.9775e-05 0.011144" quat="-0.0015583 0.707105 -0.0015583 0.707105" mass="0.70767" diaginertia="0.000401311 0.000355289 0.00035492" />
+        <joint name="wheel_front_right_joint" pos="0 0 0" axis="0 0 1" actuatorfrcrange="-6 6" damping="1" frictionloss="2" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wheel_link" />
+        <geom size="0.0762 0.025" type="cylinder" rgba="0.1 0.1 0.1 1" group="3" friction="0.001 0.001 0.0" />
+      </body>
+      <body name="wheel_front_left_link" pos="0.244 0.223175 0.0762" quat="0.707107 -0.707107 0 0">
+        <inertial pos="5.4922e-09 -6.9775e-05 -0.011144" quat="-0.0015583 0.707105 -0.0015583 0.707105" mass="0.70767" diaginertia="0.000401311 0.000355289 0.00035492" />
+        <joint name="wheel_front_left_joint" pos="0 0 0" axis="0 0 1" actuatorfrcrange="-6 6" damping="1" frictionloss="2" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wheel_link1" />
+        <geom size="0.0762 0.025" type="cylinder" rgba="0.1 0.1 0.1 1" group="3" friction="0.001 0.001 0.0" />
+      </body>
+      <body name="wheel_rear_right_link" pos="-0.244 -0.223175 0.0762" quat="0.707107 -0.707107 0 0">
+        <inertial pos="-5.4922e-09 -6.9775e-05 0.011144" quat="0.0015583 0.707105 0.0015583 0.707105" mass="0.70767" diaginertia="0.000401311 0.000355289 0.00035492" />
+        <joint name="wheel_rear_right_joint" pos="0 0 0" axis="0 0 1" actuatorfrcrange="-6 6" damping="1" frictionloss="2" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wheel_link" />
+        <geom size="0.0762 0.025" type="cylinder" rgba="0.1 0.1 0.1 1" group="3" friction="0.001 0.001 0.0" />
+      </body>
+      <body name="wheel_rear_left_link" pos="-0.244 0.223175 0.0762" quat="0.707107 -0.707107 0 0">
+        <inertial pos="-5.4922e-09 6.9775e-05 -0.011144" quat="0.0015583 0.707105 0.0015583 0.707105" mass="0.70767" diaginertia="0.000401311 0.000355289 0.00035492" />
+        <joint name="wheel_rear_left_joint" pos="0 0 0" axis="0 0 1" actuatorfrcrange="-6 6" damping="1" frictionloss="2" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 1" mesh="wheel_link" />
+        <geom size="0.0762 0.025" type="cylinder" rgba="0.1 0.1 0.1 1" group="3" friction="0.001 0.001 0.0" />
+      </body>
+      <body name="torso_lift_link" pos="-0.0245 0 0.8457">
+        <inertial pos="0.0129455 0 -0.0117188" quat="0.658139 0.658391 -0.258276 0.258201" mass="4.0175" diaginertia="0.0534327 0.0451869 0.0265871" />
+        <joint name="torso_lift_joint" pos="0 0 0" axis="0 0 1" type="slide" range="0 0.35" actuatorfrcrange="-2000 2000" damping="50.0" />
+        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.894118 0.913725 0.929412 1" mesh="torso_lift_link" />
+        <geom type="mesh" rgba="0.894118 0.913725 0.929412 1" mesh="torso_lift_link_collision" group="3" />
+        <geom pos="-0.226436 3.12797e-05 0.00524038" quat="0.707107 0 0 -0.707107" type="mesh" rgba="0.894118 0.913725 0.929412 1" mesh="laptop_tray_collision" group="3" />
+        <geom size="0.055 0.046 0.01085" pos="0 0 0.05085" type="box" contype="0" conaffinity="0" group="1" density="0" rgba="0.298039 0.298039 0.298039 1" />
+        <geom size="0.055 0.046 0.01085" pos="0 0 0.05085" type="box" rgba="0.298039 0.298039 0.298039 1" group="3" />
+        <geom pos="0.08976 0.15918 -0.092008" quat="0.418942 -0.703926 0.492878 -0.293337" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="arm_base_link" />
+        <geom pos="0.08976 0.15918 -0.092008" quat="0.418942 -0.703926 0.492878 -0.293337" type="mesh" rgba="0.29804 0.29804 0.29804 1" mesh="arm_base_link" group="3" />
+        <geom pos="0.08976 -0.15918 -0.092008" quat="0.293338 -0.492879 0.703925 -0.418942" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="arm_base_link" />
+        <geom pos="0.08976 -0.15918 -0.092008" quat="0.293338 -0.492879 0.703925 -0.418942" type="mesh" rgba="0.29804 0.29804 0.29804 1" mesh="arm_base_link" group="3" />
+        <body name="head_1_link" pos="0 0 0.04">
+          <inertial pos="-0.0037459 -4.6685e-05 0.1055" quat="0.989566 0.00923768 0.143783 -0.00100727" mass="0.15566" diaginertia="0.00053891 0.000350222 0.000315288" />
+          <joint name="head_1_joint" pos="0 0 0" axis="0 0 1" range="-1.309 1.309" actuatorfrcrange="-5.197 5.197" damping="0.5" frictionloss="1" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="head_1_link" />
+          <geom type="mesh" rgba="0.29804 0.29804 0.29804 1" mesh="head_1_link_collision" group="3" />
+          <body name="head_2_link" pos="0.0425 0 0.10585" quat="0.707105 -0.707108 0 0">
+            <inertial pos="0.0137012 -0.109856 -0.000696298" quat="0.98031 -0.00584723 -0.000641184 -0.197378" mass="1.39653" diaginertia="0.0114093 0.00845887 0.00661747" />
+            <joint name="head_2_joint" pos="0 0 0" axis="0 0 -1" range="-1.0472 0.34907" actuatorfrcrange="-2.77 2.77" damping="0.5" frictionloss="1" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="realsense-d435_cover_link" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="1 1 1 1" mesh="head_2_link" />
+            <geom type="mesh" rgba="1 1 1 1" mesh="head_2_link_collision" group="3" />
+            <geom size="0.08641 0.05412 0.0025" pos="0.05584 -0.083935 0" quat="-1.29867e-06 0.707107 -1.29867e-06 0.707107" type="box" contype="0" conaffinity="0" group="1" density="0" rgba="0 0 0 1" />
+            <geom pos="0.0565 -0.168 -4.59151e-08" quat="-1.29867e-06 0.707107 -1.29867e-06 0.707107" type="mesh" contype="0" conaffinity="0" group="1" density="0" mesh="d435_simplified" />
+            <geom size="0.012525 0.045 0.0125" pos="0.043875 -0.168 -4.59151e-08" quat="0.707105 0.707108 0 0" type="box" group="3" />
+            <!-- Virtual RealSense camera -->
+            <body name="realsense_frame"
+                  pos="0.0565 -0.168 0"
+                  quat="-1.29867e-06 -0.707107 -1.29867e-06 0.707107">
+              <camera name="realsense_rgb" pos="0 0.0 0.02" quat="-1 0 0 0" fovy="69"/>
+            </body>
+          </body>
+        </body>
+        <body name="arm_left_1_link" pos="0.08976 0.15918 -0.092008" quat="0.418942 -0.703926 0.492878 -0.293337">
+          <inertial pos="0.0043916 0.016184 0.15576" quat="0.995877 -0.0736287 -0.0165883 0.0503316" mass="1.1325" diaginertia="0.00255401 0.00238017 0.000938535" />
+          <joint name="arm_left_1_joint" pos="0 0 0" axis="0 0 1" range="-0.523599 4.71239" actuatorfrcrange="-43 43" damping="10" frictionloss="1" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="arm_1_link" />
+          <geom type="mesh" rgba="0.29804 0.29804 0.29804 1" mesh="arm_1_link_collision" group="3" />
+          <body name="arm_left_2_link" pos="0.03711 0.02 0.18" quat="0.5 -0.5 0.5 -0.5">
+            <inertial pos="0.01786 -0.11956 -0.032097" quat="0.372627 0.555033 -0.540311 0.51103" mass="1.0436" diaginertia="0.00163669 0.00151951 0.000828169" />
+            <joint name="arm_left_2_joint" pos="0 0 0" axis="0 0 1" range="-2.44346 1.13446" actuatorfrcrange="-43 43" damping="10" frictionloss="1" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="arm_2_link" />
+            <geom type="mesh" rgba="0.29804 0.29804 0.29804 1" mesh="arm_2_link_collision" group="3" />
+            <body name="arm_left_3_link" pos="0.02 -0.17011 -0.03711" quat="0.707107 0.707107 0 0">
+              <inertial pos="0.016184 -0.0043916 0.13565" quat="0.668601 0.0403336 0.0637931 0.739781" mass="1.1325" diaginertia="0.00255401 0.00238017 0.000938535" />
+              <joint name="arm_left_3_joint" pos="0 0 0" axis="0 0 1" range="-2.61799 2.61799" actuatorfrcrange="-26 26" damping="10" frictionloss="1" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="arm_3_link" />
+              <geom type="mesh" rgba="0.29804 0.29804 0.29804 1" mesh="arm_3_link_collision" group="3" />
+              <body name="arm_left_4_link" pos="0.02 -0.03711 0.15989" quat="0.707107 0.707107 0 0">
+                <inertial pos="-0.01786 0.11956 -0.032097" quat="0.540311 0.51103 -0.372627 0.555033" mass="1.0436" diaginertia="0.00163669 0.00151951 0.000828169" />
+                <joint name="arm_left_4_joint" pos="0 0 0" axis="0 0 1" range="-2.44346 1.13446" actuatorfrcrange="-26 26" damping="10" frictionloss="1" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="arm_4_link" />
+                <geom type="mesh" rgba="0.29804 0.29804 0.29804 1" mesh="arm_4_link_collision" group="3" />
+                <body name="arm_left_5_link" pos="-0.02 0.17011 -0.03711" quat="0.000563088 -0.000563088 0.707107 0.707107">
+                  <inertial pos="-0.00017 -0.02738 0.06749" quat="0.699157 -0.105734 0.105734 0.699157" mass="0.31298" diaginertia="0.00165763 0.00157 0.000312375" />
+                  <joint name="arm_left_5_joint" pos="0 0 0" axis="0 0 1" range="-3.66519 1.5708" actuatorfrcrange="-26 26" damping="10" frictionloss="1" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="arm_5_link" />
+                  <geom type="mesh" rgba="0.29804 0.29804 0.29804 1" mesh="arm_5_link_collision" group="3" />
+                  <body name="arm_left_6_link" pos="0 -0.0422 0.1654" quat="0.000563087 -0.000563089 -0.707108 0.707105">
+                    <inertial pos="0.0317652 -0.00651511 -0.0408045" quat="0.649802 0.62025 0.320219 0.300842" mass="1.34587" diaginertia="0.00126618 0.00118982 0.000997639" />
+                    <joint name="arm_left_6_joint" pos="0 0 0" axis="0 0 -1" range="-1.88496 3.00197" actuatorfrcrange="-26 26" damping="10" frictionloss="1" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="arm_6_link" />
+                    <geom type="mesh" rgba="0.29804 0.29804 0.29804 1" mesh="arm_6_link_collision" group="3" />
+                    <body name="arm_left_7_link" pos="0.07 -0.0534 -0.0422" quat="0.707105 0.707108 0 0">
+                      <inertial pos="0.00174 -0.00223 0.0083" quat="0.5 0.5 -0.5 0.5" mass="0.12399" diaginertia="0.00012 8e-05 6e-05" />
+                      <joint name="arm_left_7_joint" pos="0 0 0" axis="0 0 1" range="-2.61799 2.61799" actuatorfrcrange="-26 26" damping="10" frictionloss="1" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="arm_7_link" />
+                      <geom size="0.0375 0.0183" type="cylinder" rgba="0.29804 0.29804 0.29804 1" group="3" />
+                      <geom pos="0 0 0.017" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="base_link_tc" />
+                      <geom pos="0 0 0.017" type="mesh" rgba="0.29804 0.29804 0.29804 1" mesh="base_link_tc" group="3" />
+                      <body name="realsense_end_effector_left" pos="0.0406 0 0.014" quat="0 0.707107 0 0.707107">
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" 
+                              rgba="0.75294 0.75294 0.75294 1" mesh="end_effector_camera_realsense_d435"/>
+                        <camera name="end_effector_left_rgb" pos="0.015 0 0.0195" quat="0.7071 0 -0.7071 0" fovy="69"/>
+                      </body>
+                      <body name="gripper_left_inner_finger_left_link" pos="0 -0.013977 0.095832" quat="0.253401 0.660141 -0.253406 -0.660141">
+                        <inertial pos="0 0.024759 0" quat="0.5 0.5 -0.5 0.5" mass="0.018619" diaginertia="4.9573e-06 4.8806e-06 2.5471e-07" />
+                        <joint name="gripper_left_inner_finger_left_joint" pos="0 0 0" axis="0 0 1" range="0 0.9" actuatorfrcrange="-8 8" damping="1.5" />
+                        <geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="inner_finger" />
+                        <body name="gripper_left_fingertip_left_link" pos="0 0.05 0" quat="0.913545 0 0 0.406738">
+                          <inertial pos="-0.000864586 0.011929 -2.73244e-11" quat="0.704565 0.704565 0.0599056 0.0599056" mass="0.033503" diaginertia="3.69751e-06 2.84428e-06 1.65117e-06" />
+                          <joint name="gripper_left_fingertip_left_joint" pos="0 0 0" axis="0 0 1" range="-0.9 0" actuatorfrcrange="-8 8" damping="1.5" />
+                          <geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="fingertip" />
+                        </body>
+                      </body>
+                      <body name="gripper_left_outer_finger_left_link" pos="0 -0.0288 0.0913" quat="0.253401 0.660141 -0.253406 -0.660141">
+                        <inertial pos="-0.00128298 0.0143975 0" quat="0.522876 0.476026 -0.522876 0.476026" mass="0.0159888" diaginertia="6.14973e-06 6.03691e-06 4.38203e-07" />
+                        <joint name="gripper_left_outer_finger_left_joint" pos="0 0 0" axis="0 0 1" range="0 0.9" actuatorfrcrange="-8 8" damping="1.5"/>
+                        <geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="outer_finger" />
+                      </body>
+                      <body name="gripper_left_inner_finger_right_link" pos="0 0.013977 0.095832" quat="0.66014 0.253404 0.660142 0.253404">
+                        <inertial pos="0 0.024759 0" quat="0.5 0.5 -0.5 0.5" mass="0.018619" diaginertia="4.9573e-06 4.8806e-06 2.5471e-07" />
+                        <joint name="gripper_left_inner_finger_right_joint" pos="0 0 0" axis="0 0 1" range="0 0.9" actuatorfrcrange="-8 8" damping="1.5" />
+                        <geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="inner_finger" />
+                        <body name="gripper_left_fingertip_right_link" pos="0 0.05 0" quat="0.913545 0 0 0.406738">
+                          <inertial pos="-0.000864586 0.011929 -2.73244e-11" quat="0.704565 0.704565 0.0599056 0.0599056" mass="0.033503" diaginertia="3.69751e-06 2.84428e-06 1.65117e-06" />
+                          <joint name="gripper_left_fingertip_right_joint" pos="0 0 0" axis="0 0 1" range="-0.9 0" actuatorfrcrange="-8 8" damping="1.5" />
+                          <geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="fingertip" />
+                        </body>
+                      </body>
+                      <body name="gripper_left_outer_finger_right_link" pos="0 0.0288 0.0913" quat="0.66014 0.253404 0.660142 0.253404">
+                        <inertial pos="-0.00128298 0.0143975 0" quat="0.522876 0.476026 -0.522876 0.476026" mass="0.0159888" diaginertia="6.14973e-06 6.03691e-06 4.38203e-07" />
+                        <joint name="gripper_left_outer_finger_right_joint" pos="0 0 0" axis="0 0 1" range="0 0.9" actuatorfrcrange="-8 8" damping="1.5" />
+                        <geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="outer_finger" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="arm_right_1_link" pos="0.08976 -0.15918 -0.092008" quat="0.293338 -0.492879 0.703925 -0.418942">
+          <inertial pos="0.0043916 0.016184 0.15576" quat="0.995877 -0.0736287 -0.0165883 0.0503316" mass="1.1325" diaginertia="0.00255401 0.00238017 0.000938535" />
+          <joint name="arm_right_1_joint" pos="0 0 0" axis="0 0 1" range="-4.71239 0.523599" actuatorfrcrange="-43 43" damping="10" frictionloss="1" />
+          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="arm_1_link" />
+          <geom type="mesh" rgba="0.29804 0.29804 0.29804 1" mesh="arm_1_link_collision" group="3" />
+          <body name="arm_right_2_link" pos="0.03711 0.02 0.18" quat="0.5 -0.5 0.5 -0.5">
+            <inertial pos="0.01786 -0.11956 -0.032097" quat="0.372627 0.555033 -0.540311 0.51103" mass="1.0436" diaginertia="0.00163669 0.00151951 0.000828169" />
+            <joint name="arm_right_2_joint" pos="0 0 0" axis="0 0 1" range="-2.44346 1.13446" actuatorfrcrange="-43 43" damping="10" frictionloss="1" />
+            <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="arm_2_link" />
+            <geom type="mesh" rgba="0.29804 0.29804 0.29804 1" mesh="arm_2_link_collision" group="3" />
+            <body name="arm_right_3_link" pos="0.02 -0.17011 -0.03711" quat="0.707107 0.707107 0 0">
+              <inertial pos="0.016184 -0.0043916 0.13565" quat="0.668601 0.0403336 0.0637931 0.739781" mass="1.1325" diaginertia="0.00255401 0.00238017 0.000938535" />
+              <joint name="arm_right_3_joint" pos="0 0 0" axis="0 0 1" range="-2.61799 2.61799" actuatorfrcrange="-26 26" damping="10" frictionloss="1" />
+              <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="arm_3_link" />
+              <geom type="mesh" rgba="0.29804 0.29804 0.29804 1" mesh="arm_3_link_collision" group="3" />
+              <body name="arm_right_4_link" pos="0.02 -0.03711 0.15989" quat="0.707107 0.707107 0 0">
+                <inertial pos="-0.01786 0.11956 -0.032097" quat="0.540311 0.51103 -0.372627 0.555033" mass="1.0436" diaginertia="0.00163669 0.00151951 0.000828169" />
+                <joint name="arm_right_4_joint" pos="0 0 0" axis="0 0 1" range="-2.44346 1.13446" actuatorfrcrange="-26 26" damping="10" frictionloss="1" />
+                <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="arm_4_link" />
+                <geom type="mesh" rgba="0.29804 0.29804 0.29804 1" mesh="arm_4_link_collision" group="3" />
+                <body name="arm_right_5_link" pos="-0.02 0.17011 -0.03711" quat="0.000563088 -0.000563088 0.707107 0.707107">
+                  <inertial pos="-0.00017 -0.02738 0.06749" quat="0.699157 -0.105734 0.105734 0.699157" mass="0.31298" diaginertia="0.00165763 0.00157 0.000312375" />
+                  <joint name="arm_right_5_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 3.66519" actuatorfrcrange="-26 26" damping="10" frictionloss="1" />
+                  <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="arm_5_link" />
+                  <geom type="mesh" rgba="0.29804 0.29804 0.29804 1" mesh="arm_5_link_collision" group="3" />
+                  <body name="arm_right_6_link" pos="0 -0.0422 0.1654" quat="0.000563087 -0.000563089 -0.707108 0.707105">
+                    <inertial pos="0.0317652 -0.00651511 -0.0408045" quat="0.649802 0.62025 0.320219 0.300842" mass="1.34587" diaginertia="0.00126618 0.00118982 0.000997639" />
+                    <joint name="arm_right_6_joint" pos="0 0 0" axis="0 0 -1" range="-1.88496 3.00197" actuatorfrcrange="-26 26" damping="10" frictionloss="1" />
+                    <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="arm_6_link" />
+                    <geom type="mesh" rgba="0.29804 0.29804 0.29804 1" mesh="arm_6_link_collision" group="3" />
+                    <body name="arm_right_7_link" pos="0.07 -0.0534 -0.0422" quat="0.707105 0.707108 0 0">
+                      <inertial pos="0.00174 -0.00223 0.0083" quat="0.5 0.5 -0.5 0.5" mass="0.12399" diaginertia="0.00012 8e-05 6e-05" />
+                      <joint name="arm_right_7_joint" pos="0 0 0" axis="0 0 1" range="-2.61799 2.61799" actuatorfrcrange="-26 26" damping="10" frictionloss="1" />
+                      <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="arm_7_link" />
+                      <geom size="0.0375 0.0183" type="cylinder" rgba="0.29804 0.29804 0.29804 1" group="3" />
+                      <geom pos="0 0 0.017" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.29804 0.29804 0.29804 1" mesh="base_link_tc" />
+                      <geom pos="0 0 0.017" type="mesh" rgba="0.29804 0.29804 0.29804 1" mesh="base_link_tc" group="3" />
+                      <body name="gripper_right_inner_finger_left_link" pos="0 -0.013977 0.095832" quat="0.253401 0.660141 -0.253406 -0.660141">
+                        <inertial pos="0 0.024759 0" quat="0.5 0.5 -0.5 0.5" mass="0.018619" diaginertia="4.9573e-06 4.8806e-06 2.5471e-07" />
+                        <joint name="gripper_right_inner_finger_left_joint" pos="0 0 0" axis="0 0 1" range="0 0.95" actuatorfrcrange="-8 8" damping="1.5"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="inner_finger" />
+                        <geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="inner_finger" group="3" />
+                        <body name="gripper_right_fingertip_left_link" pos="0 0.05 0" quat="0.913545 0 0 0.406738">
+                          <inertial pos="-0.000864586 0.011929 -2.73244e-11" quat="0.704565 0.704565 0.0599056 0.0599056" mass="0.033503" diaginertia="3.69751e-06 2.84428e-06 1.65117e-06" />
+                          <joint name="gripper_right_fingertip_left_joint" pos="0 0 0" axis="0 0 1" range="-0.95 0" actuatorfrcrange="-8 8" damping="1.5"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="fingertip" />
+                          <geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="fingertip" group="3" />
+                        </body>
+                      </body>
+                      <body name="realsense_end_effector_right" pos="0.0406 0 0.014" quat="0 0.707107 0 0.707107">
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" 
+                              rgba="0.75294 0.75294 0.75294 1" mesh="end_effector_camera_realsense_d435"/>
+                        <camera name="end_effector_right_rgb" pos="0.015 0 0.0195" quat="0.7071 0 -0.7071 0" fovy="69"/>
+                      </body>
+                      <body name="gripper_right_outer_finger_left_link" pos="0 -0.0288 0.0913" quat="0.253401 0.660141 -0.253406 -0.660141">
+                        <inertial pos="-0.00128298 0.0143975 0" quat="0.522876 0.476026 -0.522876 0.476026" mass="0.0159888" diaginertia="6.14973e-06 6.03691e-06 4.38203e-07" />
+                        <joint name="gripper_right_outer_finger_left_joint" pos="0 0 0" axis="0 0 1" range="0 0.95" actuatorfrcrange="-8 8" damping="1.5" />
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="outer_finger" />
+                        <geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="outer_finger" group="3" />
+                      </body>
+                      <body name="gripper_right_inner_finger_right_link" pos="0 0.013977 0.095832" quat="0.66014 0.253404 0.660142 0.253404">
+                        <inertial pos="0 0.024759 0" quat="0.5 0.5 -0.5 0.5" mass="0.018619" diaginertia="4.9573e-06 4.8806e-06 2.5471e-07" />
+                        <joint name="gripper_right_inner_finger_right_joint" pos="0 0 0" axis="0 0 1" range="0 0.95" actuatorfrcrange="-8 8" damping="1.5"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="inner_finger" />
+                        <geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="inner_finger" group="3" />
+                        <body name="gripper_right_fingertip_right_link" pos="0 0.05 0" quat="0.913545 0 0 0.406738">
+                          <inertial pos="-0.000864586 0.011929 -2.73244e-11" quat="0.704565 0.704565 0.0599056 0.0599056" mass="0.033503" diaginertia="3.69751e-06 2.84428e-06 1.65117e-06" />
+                          <joint name="gripper_right_fingertip_right_joint" pos="0 0 0" axis="0 0 1" range="-0.95 0" actuatorfrcrange="-8 8" damping="1.5"/>
+                          <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="fingertip" />
+                          <geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="fingertip" group="3" />
+                        </body>
+                      </body>
+                      <body name="gripper_right_outer_finger_right_link" pos="0 0.0288 0.0913" quat="0.66014 0.253404 0.660142 0.253404">
+                        <inertial pos="-0.00128298 0.0143975 0" quat="0.522876 0.476026 -0.522876 0.476026" mass="0.0159888" diaginertia="6.14973e-06 6.03691e-06 4.38203e-07" />
+                        <joint name="gripper_right_outer_finger_right_joint" pos="0 0 0" axis="0 0 1" range="0 0.95 " actuatorfrcrange="-8 8" damping="1.5"/>
+                        <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.752941 0.752941 0.752941 1" mesh="outer_finger" />
+                        <geom type="mesh" rgba="0.752941 0.752941 0.752941 1" mesh="outer_finger" group="3" />
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <site name="base_footprint_site" />
+    </body>
+  </worldbody>
+  <equality>
+    <!-- Left finger joints mimic outer left -->
+    <joint joint1="gripper_left_outer_finger_left_joint"
+           joint2="gripper_left_outer_finger_right_joint"
+           polycoef="0 1 0 0 0"
+           solimp="0.9 0.95 0.001"
+           solref="0.02 1" 
+           active="true"/>
+    <joint joint1="gripper_left_outer_finger_left_joint"
+           joint2="gripper_left_inner_finger_left_joint"
+           polycoef="0 1 0 0 0"
+           solimp="0.9 0.95 0.001"
+           solref="0.02 1" 
+           active="true"/>
+    <joint joint1="gripper_left_outer_finger_left_joint"
+           joint2="gripper_left_inner_finger_right_joint"
+           polycoef="0 1 0 0 0"
+           solimp="0.9 0.95 0.001"
+           solref="0.02 1" 
+           active="true"/>
+    <joint joint1="gripper_left_outer_finger_left_joint"
+           joint2="gripper_left_fingertip_left_joint"
+           polycoef="0 -1 0 0 0"
+           solimp="0.9 0.95 0.001"
+           solref="0.02 1" 
+           active="true"/>
+    <joint joint1="gripper_left_outer_finger_left_joint"
+           joint2="gripper_left_fingertip_right_joint"
+           polycoef="0 -1 0 0 0"
+           solimp="0.9 0.95 0.001"
+           solref="0.02 1" 
+           active="true"/>     
+
+           
+    <!-- Right finger joints mimic outer left -->
+    <joint joint1="gripper_right_outer_finger_left_joint"
+           joint2="gripper_right_outer_finger_right_joint"
+           polycoef="0 1 0 0 0"
+           solimp="0.9 0.95 0.001"
+           solref="0.02 1" 
+           active="true"/>
+    <joint joint1="gripper_right_outer_finger_left_joint"
+           joint2="gripper_right_inner_finger_left_joint"
+           polycoef="0 1 0 0 0"
+           solimp="0.9 0.95 0.001"
+           solref="0.02 1" 
+           active="true"/>
+    <joint joint1="gripper_right_outer_finger_left_joint"
+           joint2="gripper_right_inner_finger_right_joint"
+           polycoef="0 1 0 0 0"
+           solimp="0.9 0.95 0.001"
+           solref="0.02 1" 
+           active="true"/>
+    <joint joint1="gripper_right_outer_finger_left_joint"
+           joint2="gripper_right_fingertip_left_joint"
+           polycoef="0 -1 0 0 0"
+           solimp="0.9 0.95 0.001"
+           solref="0.02 1" 
+           active="true"/>
+    <joint joint1="gripper_right_outer_finger_right_joint"
+           joint2="gripper_right_fingertip_right_joint"
+           polycoef="0 -1 0 0 0"
+           solimp="0.9 0.95 0.001"
+           solref="0.02 1" 
+           active="true"/>  
+   </equality>
+   
+  <contact>
+    <exclude body1="gripper_left_outer_finger_left_link" body2="gripper_left_fingertip_left_link" />
+    <exclude body1="gripper_left_outer_finger_left_link" body2="gripper_left_inner_finger_left_link" />
+    <exclude body1="gripper_left_outer_finger_right_link" body2="gripper_left_fingertip_right_link" />
+    <exclude body1="gripper_left_outer_finger_right_link" body2="gripper_left_inner_finger_right_link" />
+    <exclude body1="gripper_left_inner_finger_left_link" body2="gripper_left_fingertip_left_link" />
+    <exclude body1="gripper_left_inner_finger_right_link" body2="gripper_left_fingertip_right_link" />
+    <exclude body1="gripper_right_outer_finger_left_link" body2="gripper_right_fingertip_left_link" />
+    <exclude body1="gripper_right_outer_finger_left_link" body2="gripper_right_inner_finger_left_link" />
+    <exclude body1="gripper_right_outer_finger_right_link" body2="gripper_right_fingertip_right_link" />
+    <exclude body1="gripper_right_outer_finger_right_link" body2="gripper_right_inner_finger_right_link" />
+    <exclude body1="gripper_right_inner_finger_left_link" body2="gripper_right_fingertip_left_link" />
+    <exclude body1="gripper_right_inner_finger_right_link" body2="gripper_right_fingertip_right_link" />
+  </contact>
+</mujoco>
diff --git a/pal_tiago_pro/tiago_pro_motor.xml b/pal_tiago_pro/tiago_pro_motor.xml
new file mode 100644
index 00000000..8e87eb91
--- /dev/null
+++ b/pal_tiago_pro/tiago_pro_motor.xml
@@ -0,0 +1,43 @@
+<mujoco model="tiago_pro_motor">
+  <include file="tiago_pro.xml"/>
+  <actuator>
+
+    <!-- Torso actuator -->
+    <position ctrlrange="0 0.35" joint="torso_lift_joint" kp="7000" kv="500" name="torso_lift_joint" />
+
+    <!-- Head actuators -->
+    <position ctrlrange="-1.309 1.309"  joint="head_1_joint" kp="2000" kv="10" name="head_1_joint" />
+    <position ctrlrange="-1.0472 0.34907"  joint="head_2_joint" kp="2000" kv="10" name="head_2_joint" />
+
+    <!-- Base actuators -->
+    <velocity ctrllimited="false" ctrlrange="-100 100" gear="1 0 0 0 0 0"  kv="500" name="base_x" site="base_footprint_site" />
+    <velocity ctrllimited="false" ctrlrange="-100 100" gear="0 1 0 0 0 0"  kv="500" name="base_y" site="base_footprint_site" />
+    <velocity ctrllimited="false" ctrlrange="-500 500" gear="0 0 0 0 0 1"  kv="500" name="base_tau" site="base_footprint_site" />
+
+    <!-- Left arm actuators -->
+    <motor name="arm_left_1_joint_torque" joint="arm_left_1_joint" ctrlrange="-46 46" />
+    <motor name="arm_left_2_joint_torque" joint="arm_left_2_joint" ctrlrange="-46 46" />
+    <motor name="arm_left_3_joint_torque" joint="arm_left_3_joint" ctrlrange="-46 46" />
+    <motor name="arm_left_4_joint_torque" joint="arm_left_4_joint" ctrlrange="-46 46" />
+    <motor name="arm_left_5_joint_torque" joint="arm_left_5_joint" ctrlrange="-46 46" />
+    <motor name="arm_left_6_joint_torque" joint="arm_left_6_joint" ctrlrange="-46 46" />
+    <motor name="arm_left_7_joint_torque" joint="arm_left_7_joint" ctrlrange="-46 46" />
+    
+    <!-- Right arm actuators -->
+    <motor name="arm_right_1_joint_torque" joint="arm_right_1_joint" ctrlrange="-46 46" />
+    <motor name="arm_right_2_joint_torque" joint="arm_right_2_joint" ctrlrange="-46 46" />
+    <motor name="arm_right_3_joint_torque" joint="arm_right_3_joint" ctrlrange="-46 46" />
+    <motor name="arm_right_4_joint_torque" joint="arm_right_4_joint" ctrlrange="-46 46" />
+    <motor name="arm_right_5_joint_torque" joint="arm_right_5_joint" ctrlrange="-46 46" />
+    <motor name="arm_right_6_joint_torque" joint="arm_right_6_joint" ctrlrange="-46 46" />
+    <motor name="arm_right_7_joint_torque" joint="arm_right_7_joint" ctrlrange="-46 46" />
+
+   <!-- Gripper actuators -->
+    <position name="gripper_left_position" joint="gripper_left_inner_finger_left_joint" kp="100" ctrlrange=" 0 0.802851 " />
+    <position name="gripper_right_position" joint="gripper_right_inner_finger_left_joint" kp="100" ctrlrange="0 0.802851" />
+  </actuator>
+
+  <keyframe>
+    <key name="home" qpos="0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0825 0.0 -0.0003 0.3578 -1.8266 0.4698 -2.3409 0.0001 -1.2006 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -0.3576 -1.8266 -0.4698 -2.3409 0.0002 -1.2006 0.0 0.0 0.0 0.0 0.0 0.0 0.0"/>
+  </keyframe>
+</mujoco>
diff --git a/pal_tiago_pro/tiago_pro_position.xml b/pal_tiago_pro/tiago_pro_position.xml
new file mode 100644
index 00000000..69e9c699
--- /dev/null
+++ b/pal_tiago_pro/tiago_pro_position.xml
@@ -0,0 +1,44 @@
+<mujoco model="tiago_pro_position">
+  <include file="tiago_pro.xml"/>
+  <actuator>
+
+    <!-- Torso actuator -->
+    <position ctrlrange="0 0.35" joint="torso_lift_joint" kp="7000" kv="500" name="torso_lift_joint" />
+
+    <!-- Head actuators -->
+    <position ctrlrange="-1.309 1.309" joint="head_1_joint" kp="2000" kv="10" name="head_1_joint" />
+    <position ctrlrange="-1.0472 0.34907" joint="head_2_joint" kp="2000" kv="10" name="head_2_joint" />
+
+    <!-- Base actuators -->
+    <velocity ctrllimited="false" ctrlrange="-100 100" gear="1 0 0 0 0 0" kv="5000" name="base_x" site="base_footprint_site" />
+    <velocity ctrllimited="false" ctrlrange="-100 100" gear="0 1 0 0 0 0" kv="5000" name="base_y" site="base_footprint_site" />
+    <velocity ctrllimited="false" ctrlrange="-500 500" gear="0 0 0 0 0 1" kv="5000" name="base_tau" site="base_footprint_site" />
+
+    <!-- Left arm actuators -->
+    <position ctrlrange="-0.523599 4.71239" joint="arm_left_1_joint" kp="1000" kv="50" name="arm_left_1_joint_position" />
+    <position ctrlrange="-2.44346 1.13446"  joint="arm_left_2_joint" kp="1000" kv="60" name="arm_left_2_joint_position" />
+    <position ctrlrange="-2.61799 2.61799"  joint="arm_left_3_joint" kp="1000" kv="50" name="arm_left_3_joint_position" />
+    <position ctrlrange="-2.44346 1.13446"  joint="arm_left_4_joint" kp="500"  kv="20" name="arm_left_4_joint_position" />
+    <position ctrlrange="-2.61799 2.61799"  joint="arm_left_5_joint" kp="1000" kv="20" name="arm_left_5_joint_position" />
+    <position ctrlrange="-2.00713 2.00713"  joint="arm_left_6_joint" kp="1000" kv="20" name="arm_left_6_joint_position" />
+    <position ctrlrange="-2.61799 2.61799"  joint="arm_left_7_joint" kp="500" kv="20" name="arm_left_7_joint_position" />
+
+    <!-- Right arm actuators -->
+    <position ctrlrange="-4.71239 0.523599" joint="arm_right_1_joint" kp="1000" kv="50" name="arm_right_1_joint_position" />
+    <position ctrlrange="-2.44346 1.13446"  joint="arm_right_2_joint" kp="1000" kv="60" name="arm_right_2_joint_position" />
+    <position ctrlrange="-2.61799 2.61799"  joint="arm_right_3_joint" kp="1000" kv="50" name="arm_right_3_joint_position" />
+    <position ctrlrange="-2.44346 1.13446"  joint="arm_right_4_joint" kp="500" kv="20" name="arm_right_4_joint_position" />
+    <position ctrlrange="-2.61799 2.61799"  joint="arm_right_5_joint" kp="1000" kv="20" name="arm_right_5_joint_position" />
+    <position ctrlrange="-2.00713 2.00713"  joint="arm_right_6_joint" kp="1000" kv="20" name="arm_right_6_joint_position" />
+    <position ctrlrange="-2.61799 2.61799"  joint="arm_right_7_joint" kp="500" kv="20" name="arm_right_7_joint_position" />
+
+    <!-- Gripper actuators -->
+    <position name="gripper_left_position" joint="gripper_left_outer_finger_left_joint" kp="50000" kv="100" ctrlrange=" 0 0.95 " />
+    <position name="gripper_right_position" joint="gripper_right_outer_finger_left_joint" kp="50000" kv="100" ctrlrange="0 0.95" />
+
+</actuator>
+
+  <keyframe>
+    <key name="home" ctrl="0.08249918563133486 0.0 -0.000268 0 0 0 0.3578 -1.8265 0.4698 -2.3409 0.0002 -1.2006 0.0 -0.3576 -1.8265 -0.4698 -2.3409 0.0002 -1.2006 0.0 0.0 0.0" qpos="0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.08250 0.0 -0.0003 0.3578 -1.8266 0.4698 -2.3409 0.0001 -1.2005 0.0 0.0 0.0 0.0 0.0 0.0 0.0 -0.3576 -1.8266 -0.4698 -2.3409 0.0002 -1.2006 0.0 0.0 0.0 0.0 0.0 0.0 0.0"/>
+  </keyframe>
+</mujoco>