How can I load TIAGo++ in Pybullet

[hjw-1014]

Hi, I'm very new to Pybullet. I need a TIAGo++ file, Tiago with two arms, eg. tiago_dual_robot.

So I wanna ask, Is there also tiago_dual_robot.urdf provided in pybullet_data library?

I found here , tiago_dual_description is provided, but inside is xacro file. I tried and I cannot load it.

So how can I load it in Pybullet?

Thanks in advance.