diff --git a/CHANGELOG.md b/CHANGELOG.md
index 15a6c27..48cc44a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,7 @@ All notable changes to this project will be documented in this file.
 
 ### Added
 
+- Description: TIAGo++ (MJCF) (thanks to @Danfoa)
 - Description: Unitree H1\_2 (URDF) (thanks to @TonyZYT2000)
 - Description: Unitree H1\_2 (MJCF) (thanks to @TonyZYT2000)
 
diff --git a/README.md b/README.md
index 97b8717..dbefb83 100644
--- a/README.md
+++ b/README.md
@@ -113,7 +113,6 @@ Visualizing a robot description:
 ## Descriptions
 
 Available robot descriptions ([gallery](https://github.com/robot-descriptions/awesome-robot-descriptions#gallery)) are listed in the following categories:
-
 - [Arms](#arms)
 - [Bipeds](#bipeds)
 - [Dual arms](#dual-arms)
@@ -277,6 +276,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `sretch_mj_description`       | Stretch 2             | Hello Robot              | MJCF       | Clear BSD |
 | `sretch_3_mj_description`     | Stretch 3             | Hello Robot              | MJCF       | Apache-2.0 |
 | `tiago_description`           | TIAGo                 | PAL Robotics             | URDF       | Apache-2.0 |
+| `tiago++_mj_description`           | TIAGo++                 | PAL Robotics             | MJCF       | Apache-2.0 |
 | `rby1_description`            | RBY1                  | Rainbow Robotics         | 24  | URDF       |
 
 
diff --git a/robot_descriptions/_descriptions.py b/robot_descriptions/_descriptions.py
index b9f5c90..ef03371 100644
--- a/robot_descriptions/_descriptions.py
+++ b/robot_descriptions/_descriptions.py
@@ -222,6 +222,9 @@ def has_urdf(self) -> bool:
     "talos_description": Description(Format.URDF, tags={"humanoid"}),
     "talos_mj_description": Description(Format.MJCF, tags={"humanoid"}),
     "tiago_description": Description(Format.URDF, tags={"mobile_manipulator"}),
+    "tiago++_mj_description": Description(
+        Format.MJCF, tags={"mobile_manipulator"}
+    ),
     "trifinger_edu_description": Description(
         Format.URDF, tags={"educational"}
     ),
diff --git a/robot_descriptions/tiago++_mj_description.py b/robot_descriptions/tiago++_mj_description.py
new file mode 100644
index 0000000..7cb2b04
--- /dev/null
+++ b/robot_descriptions/tiago++_mj_description.py
@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""PAL Tiago dual description."""
+
+from os import getenv as _getenv
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache(
+    "mujoco_menagerie",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "pal_tiago_dual")
+
+MJCF_PATH: str = _path.join(PACKAGE_PATH, "tiago_dual_position.xml")