diff --git a/src/examples/python/tiago.py b/src/examples/python/tiago.py
new file mode 100644
index 00000000..c116921e
--- /dev/null
+++ b/src/examples/python/tiago.py
@@ -0,0 +1,57 @@
+import RobotDART as rd
+import time
+import numpy as np
+dt = 0.001
+simu = rd.RobotDARTSimu(dt)
+
+# this is important for wheel collision; with FCL it does not work well
+simu.set_collision_detector("bullet")
+
+freq = int(1//dt)
+# @TIAGO_PYTHON@
+robot = rd.Tiago()
+# @TIAGO_PYTHON_END@
+print("the model used is [", robot.model_filename(), "]")
+
+configuration = rd.gui.GraphicsConfiguration()
+configuration.width = 1280
+configuration.height = 960
+configuration.bg_color = [1.0, 1.0, 1.0, 1.0]
+graphics = rd.gui.Graphics(configuration)
+simu.set_graphics(graphics)
+graphics.look_at([0., 3., 2.], [0., 0., 0.25])
+graphics.record_video("tiago_dancing.mp4")
+
+simu.add_checkerboard_floor()
+simu.add_robot(robot)
+
+simu.set_control_freq(freq)
+wheel_dofs = ["wheel_right_joint", "wheel_left_joint"]
+arm_dofs = ["arm_1_joint",
+            "arm_2_joint",
+            "arm_3_joint",
+            "arm_4_joint",
+            "arm_5_joint",
+            "torso_lift_joint"]
+
+init_positions = robot.positions(arm_dofs)
+start = time.time()
+
+while (simu.scheduler().next_time() < 20. and not simu.graphics().done()):
+    if (simu.schedule(simu.control_freq())):
+        delta_pos = [np.sin(simu.scheduler().current_time() * 2) + np.pi/2,
+                     np.sin(simu.scheduler().current_time() * 2),
+                     np.sin(simu.scheduler().current_time() * 2),
+                     np.sin(simu.scheduler().current_time() * 2),
+                     np.sin(simu.scheduler().current_time() * 2),
+                     np.sin(simu.scheduler().current_time() * 2)]
+        commands = (init_positions + delta_pos) - robot.positions(arm_dofs)
+        robot.set_commands(commands, arm_dofs)
+        cmd = [0, 5]
+        robot.set_commands(cmd, wheel_dofs)
+    simu.step_world()
+
+end = time.time()
+elapsed_seconds = end - start
+print("benchmark time: ", elapsed_seconds, " s")
+robot.reset()
diff --git a/src/examples/tiago.cpp b/src/examples/tiago.cpp
index f595658a..0cf72aa9 100644
--- a/src/examples/tiago.cpp
+++ b/src/examples/tiago.cpp
@@ -13,7 +13,9 @@ int main()
     simu.set_collision_detector("bullet");
 
     size_t freq = 1. / dt;
+    // @TIAGO@
     auto robot = std::make_shared<robot_dart::robots::Tiago>(freq);
+    // @TIAGO_END@
     std::cout << "The model used is: [" << robot->model_filename() << "]" << std::endl;
 
 #ifdef GRAPHIC