diff --git a/gazebo/grip_tool/meshes/collision/grip.stl b/gazebo/grip_tool/meshes/collision/grip.stl
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index 0000000..cf0b39b
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+++ b/gazebo/grip_tool/meshes/collision/grip.stl
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+size 48084
diff --git a/gazebo/grip_tool/meshes/collision/gripbase.stl b/gazebo/grip_tool/meshes/collision/gripbase.stl
new file mode 100644
index 0000000..df68fd4
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+++ b/gazebo/grip_tool/meshes/collision/gripbase.stl
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+oid sha256:c6095256ec49bb7c26b9016d4111e9b581593ff158b95895dedb34fd7082cc88
+size 3048584
diff --git a/gazebo/grip_tool/meshes/collision/gripcircle.stl b/gazebo/grip_tool/meshes/collision/gripcircle.stl
new file mode 100644
index 0000000..3b71318
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+++ b/gazebo/grip_tool/meshes/collision/gripcircle.stl
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b7826c170ffcd280199e52cf7dbe85a456ae32dd0fafacd176f7752eb6d09c43
+size 691984
diff --git a/gazebo/grip_tool/meshes/visual/grip.dae b/gazebo/grip_tool/meshes/visual/grip.dae
new file mode 100644
index 0000000..3ec0bbd
--- /dev/null
+++ b/gazebo/grip_tool/meshes/visual/grip.dae
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+version https://git-lfs.github.com/spec/v1
+oid sha256:24ce4e5c7a2fb9d6a64620ce2fa072af65bbaac3272f4ceb8ba54d1f6bd3ff20
+size 56192
diff --git a/gazebo/grip_tool/meshes/visual/gripbase.dae b/gazebo/grip_tool/meshes/visual/gripbase.dae
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index 0000000..d421221
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+size 4493552
diff --git a/gazebo/grip_tool/meshes/visual/gripcircle.dae b/gazebo/grip_tool/meshes/visual/gripcircle.dae
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index 0000000..6f9765b
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+version https://git-lfs.github.com/spec/v1
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diff --git a/gazebo/grip_tool/model.config b/gazebo/grip_tool/model.config
new file mode 100644
index 0000000..94961c3
--- /dev/null
+++ b/gazebo/grip_tool/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+  <name>gripL</name>
+  <version>Version</version>
+  <sdf version="1.5">model.sdf</sdf>
+  <author>
+    <name>brothermechanic</name>
+    <email>brothermechanic@gmail.com</email>
+  </author>
+  <description>Comment</description>
+</model>
diff --git a/gazebo/grip_tool/model.sdf b/gazebo/grip_tool/model.sdf
new file mode 100644
index 0000000..72a0c2e
--- /dev/null
+++ b/gazebo/grip_tool/model.sdf
@@ -0,0 +1,85 @@
+<?xml version="1.0" ?>
+<sdf version='1.7'>
+  <world name='grip_tool'>
+    <model name='gripbase'>
+      <pose>0.000000 0.000000 0.000000 0.000000 0.000000 0.000000</pose>
+      <static>true</static>
+      <link name='body'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://grip_tool/meshes/visual/gripbase.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://grip_tool/meshes/visual/gripbase.stl</uri>
+            </mesh>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+    <model name='gripcircle'>
+      <pose>0.000000 0.000000 0.109480 0.000000 0.000000 0.000000</pose>
+      <static>false</static>
+      <link name='body'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://grip_tool/meshes/visual/gripcircle.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://grip_tool/meshes/visual/gripcircle.stl</uri>
+            </mesh>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+    <model name='gripR'>
+      <pose>0.000000 0.000000 0.214710 0.000000 0.000000 0.000000</pose>
+      <static>false</static>
+      <link name='body'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://grip_tool/meshes/visual/grip.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://grip_tool/meshes/visual/grip.stl</uri>
+            </mesh>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+    <model name='gripL'>
+      <pose>0.000000 0.000000 0.214710 0.000000 0.000000 3.141593</pose>
+      <static>false</static>
+      <link name='body'>
+        <visual name='visual'>
+          <geometry>
+            <mesh>
+              <uri>model://grip_tool/meshes/visual/grip.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry>
+            <mesh>
+              <uri>model://grip_tool/meshes/visual/grip.stl</uri>
+            </mesh>
+          </geometry>
+        </collision>
+      </link>
+    </model>
+  </world>
+</sdf>