diff --git a/bionic/debian/libignition-physics3-tpe-dev.install b/bionic/debian/libignition-physics3-tpe-dev.install
new file mode 100644
index 0000000..17da27d
--- /dev/null
+++ b/bionic/debian/libignition-physics3-tpe-dev.install
@@ -0,0 +1,7 @@
+usr/include/ignition/physics*/ignition/physics/tpe-plugin/*
+usr/lib/*/cmake/ignition-physics[0-99]-tpe-plugin/*
+usr/lib/*/cmake/ignition-physics[0-99]-tpe/*
+usr/lib/*/libignition-physics[0-99]-tpe-plugin.so
+usr/lib/*/ign-physics-[0-99]/engine-plugins/libignition-physics*-tpe-plugin.so
+usr/lib/*/pkgconfig/ignition-physics[0-99]-tpe-plugin.pc
+usr/lib/*/pkgconfig/ignition-physics[0-99]-tpe.pc
diff --git a/bionic/debian/libignition-physics3-tpe.install b/bionic/debian/libignition-physics3-tpe.install
new file mode 100644
index 0000000..82ad859
--- /dev/null
+++ b/bionic/debian/libignition-physics3-tpe.install
@@ -0,0 +1,2 @@
+usr/lib/*/libignition-physics[0-99]-tpe-plugin*.so.*
+usr/lib/*/ign-physics-[0-99]/engine-plugins/libignition-physics*-tpe-plugin*.so.*
diff --git a/bionic/debian/libignition-physics3-tpelib-dev.install b/bionic/debian/libignition-physics3-tpelib-dev.install
new file mode 100644
index 0000000..f6536d8
--- /dev/null
+++ b/bionic/debian/libignition-physics3-tpelib-dev.install
@@ -0,0 +1,4 @@
+usr/include/ignition/physics*/ignition/physics/tpelib/*
+usr/lib/*/cmake/ignition-physics[0-99]-tpelib/*
+usr/lib/*/libignition-physics[0-99]-tpelib.so
+usr/lib/*/pkgconfig/ignition-physics[0-99]-tpelib.pc
diff --git a/bionic/debian/libignition-physics3-tpelib.install b/bionic/debian/libignition-physics3-tpelib.install
new file mode 100644
index 0000000..af1fe33
--- /dev/null
+++ b/bionic/debian/libignition-physics3-tpelib.install
@@ -0,0 +1 @@
+usr/lib/*/libignition-physics[0-99]-tpelib*.so.*
diff --git a/focal/debian/control b/focal/debian/control
index 6a5233a..f1dd8b6 100644
--- a/focal/debian/control
+++ b/focal/debian/control
@@ -122,6 +122,66 @@ Description: Ignition Physics classes and functions for robot apps - Dartsim lib
   .
   DARTSim component shared library
 
+Package: libignition-physics3-tpe-dev
+Architecture: any
+Section: libdevel
+Depends: libignition-physics3-core-dev,
+         libignition-physics3-sdf-dev,
+         libignition-physics3-mesh-dev,
+         libignition-cmake2-dev,
+         libignition-math6-dev,
+         libignition-math6-eigen3-dev,
+         libignition-plugin-dev (>= 1.1.0),
+         libsdformat10-dev,
+         libignition-physics3-tpe (= ${binary:Version}),
+         ${misc:Depends}
+Multi-Arch: same
+Description: Ignition Physics classes and functions for robot apps - Development files
+  Ignition Physics is a component in the ignition framework, a set of libraries
+  designed to rapidly develop robot applications.
+  .
+  TPE plugin component, development files
+
+Package: libignition-physics3-tpe
+Architecture: any
+Section: libs
+Pre-Depends: ${misc:Pre-Depends}
+Depends: ${shlibs:Depends}, ${misc:Depends}
+Multi-Arch: same
+Description: Ignition Physics classes and functions for robot apps - TPE library
+  Ignition Physics is a component in the ignition framework, a set of libraries
+  designed to rapidly develop robot applications.
+  .
+  TPE plugin component shared library
+
+Package: libignition-physics3-tpelib-dev
+Architecture: any
+Section: libdevel
+Depends: libignition-cmake2-dev,
+         libignition-math6-dev,
+         libignition-math6-eigen3-dev,
+         libignition-plugin-dev (>= 1.1.0),
+         libignition-physics3-tpelib (= ${binary:Version}),
+         ${misc:Depends}
+Multi-Arch: same
+Description: Ignition Physics classes and functions for robot apps - Development files
+  Ignition Physics is a component in the ignition framework, a set of libraries
+  designed to rapidly develop robot applications.
+  .
+  TPE library component, development files
+
+Package: libignition-physics3-tpelib
+Architecture: any
+Section: libs
+Pre-Depends: ${misc:Pre-Depends}
+Depends: ${shlibs:Depends}, ${misc:Depends}
+Multi-Arch: same
+Description: Ignition Physics classes and functions for robot apps - TPE library
+  Ignition Physics is a component in the ignition framework, a set of libraries
+  designed to rapidly develop robot applications.
+  .
+  TPE library component shared library
+
 Package: libignition-physics3-dev
 Architecture: any
 Section: libdevel
@@ -129,6 +189,8 @@ Depends: libignition-physics3-core-dev,
          libignition-physics3-dartsim-dev,
          libignition-physics3-mesh-dev,
          libignition-physics3-sdf-dev,
+         libignition-physics3-tpe-dev,
+         libignition-physics3-tpelib-dev,
          ${misc:Depends}
 Multi-Arch: same
 Description: Ignition Physics classes and functions for robot apps - Metapackage
diff --git a/focal/debian/libignition-physics3-tpe-dev.install b/focal/debian/libignition-physics3-tpe-dev.install
new file mode 120000
index 0000000..2cd3d2f
--- /dev/null
+++ b/focal/debian/libignition-physics3-tpe-dev.install
@@ -0,0 +1 @@
+../../ubuntu/debian/libignition-physics-tpe-dev.install
\ No newline at end of file
diff --git a/focal/debian/libignition-physics3-tpe.install b/focal/debian/libignition-physics3-tpe.install
new file mode 120000
index 0000000..8ce0f6d
--- /dev/null
+++ b/focal/debian/libignition-physics3-tpe.install
@@ -0,0 +1 @@
+../../ubuntu/debian/libignition-physics-tpe.install
\ No newline at end of file
diff --git a/focal/debian/libignition-physics3-tpelib-dev.install b/focal/debian/libignition-physics3-tpelib-dev.install
new file mode 120000
index 0000000..d8445c5
--- /dev/null
+++ b/focal/debian/libignition-physics3-tpelib-dev.install
@@ -0,0 +1 @@
+../../ubuntu/debian/libignition-physics-tpelib-dev.install
\ No newline at end of file
diff --git a/focal/debian/libignition-physics3-tpelib.install b/focal/debian/libignition-physics3-tpelib.install
new file mode 120000
index 0000000..edbea2b
--- /dev/null
+++ b/focal/debian/libignition-physics3-tpelib.install
@@ -0,0 +1 @@
+../../ubuntu/debian/libignition-physics-tpelib.install
\ No newline at end of file
diff --git a/ubuntu/debian/control b/ubuntu/debian/control
index da8c84c..5428086 100644
--- a/ubuntu/debian/control
+++ b/ubuntu/debian/control
@@ -121,6 +121,66 @@ Description: Ignition Physics classes and functions for robot apps - Dartsim lib
   .
   DARTSim component shared library
 
+Package: libignition-physics3-tpe-dev
+Architecture: any
+Section: libdevel
+Depends: libignition-physics3-core-dev,
+         libignition-physics3-sdf-dev,
+         libignition-physics3-mesh-dev,
+         libignition-cmake2-dev,
+         libignition-math6-dev,
+         libignition-math6-eigen3-dev,
+         libignition-plugin-dev (>= 1.1.0),
+         libsdformat10-dev,
+         libignition-physics3-tpe (= ${binary:Version}),
+         ${misc:Depends}
+Multi-Arch: same
+Description: Ignition Physics classes and functions for robot apps - Development files
+  Ignition Physics is a component in the ignition framework, a set of libraries
+  designed to rapidly develop robot applications.
+  .
+  TPE plugin component, development files
+
+Package: libignition-physics3-tpe
+Architecture: any
+Section: libs
+Pre-Depends: ${misc:Pre-Depends}
+Depends: ${shlibs:Depends}, ${misc:Depends}
+Multi-Arch: same
+Description: Ignition Physics classes and functions for robot apps - TPE library
+  Ignition Physics is a component in the ignition framework, a set of libraries
+  designed to rapidly develop robot applications.
+  .
+  TPE plugin component shared library
+
+Package: libignition-physics3-tpelib-dev
+Architecture: any
+Section: libdevel
+Depends: libignition-cmake2-dev,
+         libignition-math6-dev,
+         libignition-math6-eigen3-dev,
+         libignition-plugin-dev (>= 1.1.0),
+         libignition-physics3-tpelib (= ${binary:Version}),
+         ${misc:Depends}
+Multi-Arch: same
+Description: Ignition Physics classes and functions for robot apps - Development files
+  Ignition Physics is a component in the ignition framework, a set of libraries
+  designed to rapidly develop robot applications.
+  .
+  TPE library component, development files
+
+Package: libignition-physics3-tpelib
+Architecture: any
+Section: libs
+Pre-Depends: ${misc:Pre-Depends}
+Depends: ${shlibs:Depends}, ${misc:Depends}
+Multi-Arch: same
+Description: Ignition Physics classes and functions for robot apps - TPE library
+  Ignition Physics is a component in the ignition framework, a set of libraries
+  designed to rapidly develop robot applications.
+  .
+  TPE library component shared library
+
 Package: libignition-physics3-dev
 Architecture: any
 Section: libdevel
@@ -128,6 +188,8 @@ Depends: libignition-physics3-core-dev,
          libignition-physics3-dartsim-dev,
          libignition-physics3-mesh-dev,
          libignition-physics3-sdf-dev,
+         libignition-physics3-tpe-dev,
+         libignition-physics3-tpelib-dev,
          ${misc:Depends}
 Multi-Arch: same
 Description: Ignition Physics classes and functions for robot apps - Metapackage
diff --git a/ubuntu/debian/libignition-physics-tpe-dev.install b/ubuntu/debian/libignition-physics-tpe-dev.install
new file mode 100644
index 0000000..17da27d
--- /dev/null
+++ b/ubuntu/debian/libignition-physics-tpe-dev.install
@@ -0,0 +1,7 @@
+usr/include/ignition/physics*/ignition/physics/tpe-plugin/*
+usr/lib/*/cmake/ignition-physics[0-99]-tpe-plugin/*
+usr/lib/*/cmake/ignition-physics[0-99]-tpe/*
+usr/lib/*/libignition-physics[0-99]-tpe-plugin.so
+usr/lib/*/ign-physics-[0-99]/engine-plugins/libignition-physics*-tpe-plugin.so
+usr/lib/*/pkgconfig/ignition-physics[0-99]-tpe-plugin.pc
+usr/lib/*/pkgconfig/ignition-physics[0-99]-tpe.pc
diff --git a/ubuntu/debian/libignition-physics-tpe.install b/ubuntu/debian/libignition-physics-tpe.install
new file mode 100644
index 0000000..82ad859
--- /dev/null
+++ b/ubuntu/debian/libignition-physics-tpe.install
@@ -0,0 +1,2 @@
+usr/lib/*/libignition-physics[0-99]-tpe-plugin*.so.*
+usr/lib/*/ign-physics-[0-99]/engine-plugins/libignition-physics*-tpe-plugin*.so.*
diff --git a/ubuntu/debian/libignition-physics-tpelib-dev.install b/ubuntu/debian/libignition-physics-tpelib-dev.install
new file mode 100644
index 0000000..f6536d8
--- /dev/null
+++ b/ubuntu/debian/libignition-physics-tpelib-dev.install
@@ -0,0 +1,4 @@
+usr/include/ignition/physics*/ignition/physics/tpelib/*
+usr/lib/*/cmake/ignition-physics[0-99]-tpelib/*
+usr/lib/*/libignition-physics[0-99]-tpelib.so
+usr/lib/*/pkgconfig/ignition-physics[0-99]-tpelib.pc
diff --git a/ubuntu/debian/libignition-physics-tpelib.install b/ubuntu/debian/libignition-physics-tpelib.install
new file mode 100644
index 0000000..af1fe33
--- /dev/null
+++ b/ubuntu/debian/libignition-physics-tpelib.install
@@ -0,0 +1 @@
+usr/lib/*/libignition-physics[0-99]-tpelib*.so.*