diff --git a/CMakeLists.txt b/CMakeLists.txt
index 655de58..ba9da6e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,10 +7,46 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(gz-cmake3 REQUIRED)
+find_package(gz-plugin2 REQUIRED COMPONENTS register)
+set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
+find_package(gz-common5 REQUIRED COMPONENTS profiler)
+set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
 
+# Harmonic
+if("$ENV{GZ_VERSION}" STREQUAL "harmonic")
+  find_package(gz-sim8 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
+  message(STATUS "Compiling against Gazebo Harmonic")
+# Default to Garden
+else()
+  find_package(gz-sim7 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
+  message(STATUS "Compiling against Gazebo Garden")
+endif()
+
+add_library(VacuumGripper
+  SHARED
+  src/VacuumGripper.cpp
+)
+
+include_directories(include)
+
+target_link_libraries(VacuumGripper
+  gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
+)
+
+ament_target_dependencies(VacuumGripper
+  rclcpp
+  std_srvs
+)
+
+install(
+  TARGETS VacuumGripper
+  DESTINATION lib/${PROJECT_NAME}
+)
 
 install(DIRECTORY launch urdf config world assets
 DESTINATION share/${PROJECT_NAME})
diff --git a/include/rbs_mill_assist/VacuumGripper.hpp b/include/rbs_mill_assist/VacuumGripper.hpp
new file mode 100644
index 0000000..f49cb27
--- /dev/null
+++ b/include/rbs_mill_assist/VacuumGripper.hpp
@@ -0,0 +1,46 @@
+#ifndef RBS_MILL_ASSIST__FULL_SYSTEM_HH_
+#define RBS_MILL_ASSIST__FULL_SYSTEM_HH_
+
+// The only required include in the header is this one.
+// All others will depend on what your plugin does.
+#include "gz/sim/components/Factory.hh"
+#include <gz/sim/EventManager.hh>
+#include <gz/sim/System.hh>
+
+#include "std_srvs/srv/set_bool.hpp"
+#include <memory>
+#include <rclcpp/service.hpp>
+
+namespace rbs_mill_assist {
+
+class VacuumGripperPrivate;
+
+class VacuumGripper : public gz::sim::System,
+                      public gz::sim::ISystemConfigure,
+                      public gz::sim::ISystemPreUpdate {
+public:
+  VacuumGripper();
+  ~VacuumGripper() override;
+  void Configure(const gz::sim::Entity &_entity,
+                 const std::shared_ptr<const sdf::Element> &_element,
+                 gz::sim::EntityComponentManager &_ecm,
+                 gz::sim::EventManager &_eventManager) override;
+
+  void PreUpdate(const gz::sim::UpdateInfo &_info,
+                 gz::sim::EntityComponentManager &_ecm) override;
+
+  bool AttachLink(gz::sim::EntityComponentManager &_ecm,
+                  const gz::sim::Entity &gripperEntity,
+                  const gz::sim::Entity &objectEntity);
+
+  bool DetachLink(gz::sim::EntityComponentManager &_ecm);
+
+  void Toggle(const std::shared_ptr<std_srvs::srv::SetBool::Request> request,
+              std::shared_ptr<std_srvs::srv::SetBool::Response> response);
+
+private:
+  std::unique_ptr<VacuumGripperPrivate> dataPtr;
+  rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr toggle_service_;
+};
+} // namespace rbs_mill_assist
+#endif
diff --git a/launch/simulation.launch.py b/launch/simulation.launch.py
index ffc6da6..a447f37 100644
--- a/launch/simulation.launch.py
+++ b/launch/simulation.launch.py
@@ -143,7 +143,7 @@ def launch_setup(context, *args, **kwargs):
             PythonLaunchDescriptionSource(
                 [os.path.join(get_package_share_directory('ros_gz_sim'),
                             'launch', 'gz_sim.launch.py')]),
-            launch_arguments=[('gz_args', [' -r ', gazebo_world])],
+            launch_arguments=[('gz_args', [' -r -v 4 ', gazebo_world])],
     )
 
     gazebo_spawn_robot = Node(
diff --git a/package.xml b/package.xml
index 24ca05b..ad98c48 100644
--- a/package.xml
+++ b/package.xml
@@ -11,6 +11,7 @@
 
   <depend>rbs_bringup</depend>
   <depend>rbs_arm</depend>
+  <depend>std_srvs</depend>
   <depend>cartesian_compliance_controller</depend>
   <depend>cartesian_controller_base</depend>
   <depend>cartesian_controller_handles</depend>
diff --git a/src/VacuumGripper.cpp b/src/VacuumGripper.cpp
new file mode 100644
index 0000000..d97d1d9
--- /dev/null
+++ b/src/VacuumGripper.cpp
@@ -0,0 +1,237 @@
+#include "gz/sim/components/Name.hh"
+#include <functional>
+#include <gz/common/Console.hh>
+#include <gz/plugin/Register.hh>
+#include <gz/sim/Entity.hh>
+#include <gz/sim/EntityComponentManager.hh>
+#include <gz/sim/Model.hh>
+
+#include <gz/sim/components/ChildLinkName.hh>
+#include <gz/sim/components/Collision.hh>
+#include <gz/sim/components/ContactSensorData.hh>
+#include <gz/sim/components/DetachableJoint.hh>
+#include <gz/sim/components/Joint.hh>
+#include <gz/sim/components/ParentEntity.hh>
+
+#include <memory>
+#include <rclcpp/rclcpp.hpp>
+#include <string>
+
+#include "rbs_mill_assist/VacuumGripper.hpp"
+
+GZ_ADD_PLUGIN(rbs_mill_assist::VacuumGripper, gz::sim::System,
+              rbs_mill_assist::VacuumGripper::ISystemConfigure,
+              rbs_mill_assist::VacuumGripper::ISystemPreUpdate)
+
+namespace rbs_mill_assist {
+
+class VacuumGripperPrivate {
+public:
+  std::string gripper_link_name;
+  bool attach_request;
+  bool detach_request;
+  bool enabled;
+  gz::sim::EntityComponentManager _ecm;
+
+  gz::sim::components::Joint joint;
+  gz::sim::Entity contactedEntity = gz::sim::kNullEntity;
+  gz::sim::Entity gripperEntity = gz::sim::kNullEntity;
+  std::unordered_map<std::string, gz::sim::Entity> detachableJoints;
+
+  std::shared_ptr<rclcpp::Node> node_{nullptr};
+  std::thread thread_executor_spin_;
+  rclcpp::executors::MultiThreadedExecutor::SharedPtr executor_;
+};
+
+VacuumGripper::VacuumGripper()
+    : dataPtr(std::make_unique<VacuumGripperPrivate>()) {}
+
+VacuumGripper::~VacuumGripper() {
+  this->dataPtr->executor_->cancel();
+  this->dataPtr->thread_executor_spin_.join();
+}
+
+void VacuumGripper::Toggle(
+    const std::shared_ptr<std_srvs::srv::SetBool::Request> request,
+    std::shared_ptr<std_srvs::srv::SetBool::Response> response) {
+  this->dataPtr->enabled = request->data;
+  response->success = true;
+  gzdbg << "Vacuum Gripper " << (request->data ? "Activated" : "Deactivated")
+        << std::endl;
+}
+
+bool VacuumGripper::AttachLink(gz::sim::EntityComponentManager &_ecm,
+                               const gz::sim::Entity &gripperEntity,
+                               const gz::sim::Entity &objectEntity) {
+
+  if (gripperEntity == gz::sim::kNullEntity ||
+      objectEntity == gz::sim::kNullEntity) {
+    gzerr << "Invalid gripper or object entity!" << std::endl;
+    return false;
+  }
+
+  auto jointEntity = _ecm.CreateEntity();
+
+  gz::sim::components::DetachableJointInfo jointInfo;
+  jointInfo.parentLink = gripperEntity;
+  jointInfo.childLink = objectEntity;
+  jointInfo.jointType = "fixed";
+
+  _ecm.CreateComponent(jointEntity,
+                       gz::sim::components::DetachableJoint(jointInfo));
+
+  std::string key =
+      std::to_string(gripperEntity) + "_" + std::to_string(objectEntity);
+  this->dataPtr->detachableJoints[key] = jointEntity;
+
+  gzdbg << "Attached object " << objectEntity << " to gripper " << gripperEntity
+        << std::endl;
+
+  this->dataPtr->contactedEntity = objectEntity;
+
+  return true;
+}
+
+bool VacuumGripper::DetachLink(gz::sim::EntityComponentManager &_ecm) {
+  if (this->dataPtr->contactedEntity == gz::sim::kNullEntity) {
+    gzdbg << "No object is currently attached to the gripper." << std::endl;
+    return false;
+  }
+
+  std::string key = std::to_string(this->dataPtr->gripperEntity) + "_" +
+                    std::to_string(this->dataPtr->contactedEntity);
+
+  auto it = this->dataPtr->detachableJoints.find(key);
+  if (it == this->dataPtr->detachableJoints.end()) {
+    gzerr << "Failed to find detachable joint for object "
+          << this->dataPtr->contactedEntity << std::endl;
+    return false;
+  }
+
+  auto jointEntity = it->second;
+  _ecm.RequestRemoveEntity(jointEntity);
+
+  this->dataPtr->contactedEntity = gz::sim::kNullEntity;
+  this->dataPtr->detachableJoints.erase(it);
+
+  return true;
+}
+
+void VacuumGripper::Configure(
+    const gz::sim::Entity &_entity,
+    const std::shared_ptr<const sdf::Element> &_element,
+    gz::sim::EntityComponentManager &_ecm,
+    gz::sim::EventManager &_eventManager) {
+
+  rclcpp::Logger logger = rclcpp::get_logger("VacuumGripperGazeboPlugin");
+  const auto model = gz::sim::Model(_entity);
+
+  if (!model.Valid(_ecm)) {
+    RCLCPP_ERROR(logger,
+                 "[Vacuum Gripper Plugin] Failed to initialize because [%s] "
+                 "(Entity=%lu)] is not a model."
+                 "Please make sure that Vacuum Gripper Plugin is attached to a "
+                 "valid model.",
+                 model.Name(_ecm).c_str(), _entity);
+    return;
+  }
+
+  auto sdfPtr = const_cast<sdf::Element *>(_element.get());
+
+  if (!sdfPtr->HasElement("link_name")) {
+    RCLCPP_ERROR(logger, "VacuumGripper link has not defined");
+    return;
+  }
+
+  this->dataPtr->gripper_link_name =
+      sdfPtr->GetElement("link_name")->Get<std::string>();
+
+  _ecm.Each<gz::sim::components::Name>(
+      [&](const gz::sim::Entity &entity,
+          const gz::sim::components::Name *nameComp) -> bool {
+        if (nameComp->Data() == this->dataPtr->gripper_link_name) {
+          this->dataPtr->gripperEntity = entity;
+          gzdbg << "Found gripper link: " << this->dataPtr->gripper_link_name
+                << " (Entity ID: " << entity << ")" << std::endl;
+          return false;
+        }
+        return true;
+      });
+
+  if (this->dataPtr->gripperEntity == gz::sim::kNullEntity) {
+    RCLCPP_ERROR(logger, "Gripper link '%s' not found!",
+                 this->dataPtr->gripper_link_name.c_str());
+    return;
+  }
+
+  std::string node_name = "gz_ros2_vacuum_gripper_plugin";
+
+  this->dataPtr->node_ = rclcpp::Node::make_shared(node_name);
+
+  this->dataPtr->executor_ =
+      std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
+  this->dataPtr->executor_->add_node(this->dataPtr->node_);
+  auto spin = [this]() { this->dataPtr->executor_->spin(); };
+  this->dataPtr->thread_executor_spin_ = std::thread(spin);
+
+  toggle_service_ =
+      this->dataPtr->node_->create_service<std_srvs::srv::SetBool>(
+          node_name + "/toggle",
+          std::bind(&VacuumGripper::Toggle, this, std::placeholders::_1,
+                    std::placeholders::_2));
+
+  gzdbg << "rbs_mill_assist::VacuumGripper::Configure on entity: " << _entity
+        << std::endl;
+}
+
+void VacuumGripper::PreUpdate(const gz::sim::UpdateInfo &_info,
+                              gz::sim::EntityComponentManager &_ecm) {
+  if (!this->dataPtr->enabled) {
+    if (this->dataPtr->contactedEntity != gz::sim::kNullEntity) {
+      gzdbg << "Detaching object..." << std::endl;
+      if (this->DetachLink(_ecm)) {
+        gzdbg << "Object detached successfully!" << std::endl;
+      } else {
+        gzerr << "Failed to detach object!" << std::endl;
+      }
+    }
+    return;
+  }
+
+  _ecm.Each<gz::sim::components::ContactSensorData>(
+      [&](const gz::sim::Entity &entity,
+          const gz::sim::components::ContactSensorData *contactData) -> bool {
+        if (contactData->Data().contact_size() == 0) {
+          return true;
+        }
+
+        auto msgEntity = contactData->Data().contact(0).collision2();
+        gz::sim::Entity contactedCollision(msgEntity.id());
+
+        auto parentLink = _ecm.Component<gz::sim::components::ParentEntity>(
+            contactedCollision);
+        if (!parentLink) {
+          return true;
+        }
+
+        if (this->dataPtr->contactedEntity != gz::sim::kNullEntity) {
+          return true;
+        }
+
+        gz::sim::Entity gripperLink = this->dataPtr->gripperEntity;
+        gz::sim::Entity objectLink = parentLink->Data();
+
+        gzdbg << "Attaching object " << objectLink << " to gripper..."
+              << std::endl;
+        if (this->AttachLink(_ecm, gripperLink, objectLink)) {
+          this->dataPtr->contactedEntity = objectLink;
+          gzdbg << "Object attached successfully!" << std::endl;
+        } else {
+          gzerr << "Failed to attach object!" << std::endl;
+        }
+
+        return true;
+      });
+}
+
+} // namespace rbs_mill_assist
diff --git a/urdf/rbs_arm_modular.xacro b/urdf/rbs_arm_modular.xacro
index 69692aa..25c92f4 100644
--- a/urdf/rbs_arm_modular.xacro
+++ b/urdf/rbs_arm_modular.xacro
@@ -17,43 +17,6 @@
   <xacro:include filename="$(find rbs_mill_assist)/urdf/rbs_arm_modular_macro.xacro" />
   <link name="world" />
 
-  <!-- World objects-->
-  <xacro:property name="table_length" value="1.2"/>
-  <xacro:property name="table_width" value="0.7"/>
-  <xacro:property name="table_height" value="0.8"/>
-
-  <link name="table_link">
-    <visual>
-      <geometry>
-        <box size="${table_length} ${table_width} ${table_height}"/>
-      </geometry>
-      <material name="blue">
-        <color rgba="0 0 1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="${table_length} ${table_width} ${table_height}"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="10.0"/>
-      <inertia
-        ixx="${(1/12)*50*(table_width**2 + table_height**2)}"
-        iyy="${(1/12)*50*(table_length**2 + table_height**2)}"
-        izz="${(1/12)*50*(table_length**2 + table_width**2)}"
-        ixy="0"
-        ixz="0"
-        iyz="0"/>
-    </inertial>
-  </link>
-
-  <joint name="world_joint" type="fixed">
-    <parent link="world"/>
-    <child link="table_link"/>
-    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
-  </joint>
-
   <xacro:property name="machine_length" value="0.4"/>
   <xacro:property name="machine_width" value="0.5"/>
   <xacro:property name="machine_height" value="0.115"/>
diff --git a/urdf/rbs_arm_modular_macro.xacro b/urdf/rbs_arm_modular_macro.xacro
index fc57254..2d91c3a 100644
--- a/urdf/rbs_arm_modular_macro.xacro
+++ b/urdf/rbs_arm_modular_macro.xacro
@@ -47,7 +47,17 @@
             <namespace>${namespace}</namespace>
           </ros>
         </plugin>
+        <plugin filename="VacuumGripper" name="rbs_mill_assist::VacuumGripper">
+          <link_name>ee_link</link_name>
+        </plugin>
       </gazebo>
     </xacro:if>
+    <gazebo reference="ee_link">
+      <sensor name='sensor_contact' type='contact'>
+          <contact>
+              <collision>ee_link_collision</collision>
+          </contact>
+      </sensor>
+    </gazebo>
   </xacro:macro>
 </robot>
diff --git a/world/default.sdf b/world/default.sdf
index 30caa97..792b739 100644
--- a/world/default.sdf
+++ b/world/default.sdf
@@ -6,13 +6,22 @@
       <grid>false</grid>
     </scene>
 
-    <physics name="1ms" type="ignored">
+    <physics name='1ms' type='ignored'>
       <max_step_size>0.001</max_step_size>
       <real_time_factor>1.0</real_time_factor>
+      <dart>
+        <collision_detector>bullet</collision_detector>
+        <!-- <solver> -->
+        <!--   <solver_type>pgs</solver_type> -->
+        <!-- </solver> -->
+      </dart>
     </physics>
     <plugin
       filename="gz-sim-physics-system"
       name="gz::sim::systems::Physics">
+      <engine>
+        <filename>gz-physics-dartsim-plugin</filename>
+      </engine>
     </plugin>
     <plugin
       filename="gz-sim-sensors-system"
@@ -27,6 +36,9 @@
       filename="gz-sim-scene-broadcaster-system"
       name="gz::sim::systems::SceneBroadcaster">
     </plugin>
+    <plugin filename="gz-sim-contact-system"
+            name="gz::sim::systems::Contact">
+    </plugin>
 
     <light type="directional" name="sun">
       <cast_shadows>true</cast_shadows>
@@ -73,6 +85,52 @@
     <!--     </visual> -->
     <!--   </link> -->
     <!-- </model> -->
+    <model name="table">
+      <static>1</static>
+      <link name='table_link'>
+        <pose>0 0 -0.40000000000000002 0 0 0</pose>
+        <inertial>
+          <pose>0 0 0 0 0 0</pose>
+          <mass>10</mass>
+          <inertia>
+            <ixx>4.708333333333333</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>8.6666666666666661</iyy>
+            <iyz>0</iyz>
+            <izz>8.0416666666666661</izz>
+          </inertia>
+        </inertial>
+        <collision name='table_link_collision'>
+          <pose>0 0 0 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.2 0.69999999999999996 0.80000000000000004</size>
+            </box>
+          </geometry>
+          <surface>
+            <friction>
+              <ode/>
+            </friction>
+            <bounce/>
+            <contact/>
+          </surface>
+        </collision>
+        <visual name='table_link_visual'>
+          <pose>0 0 0 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>1.2 0.69999999999999996 0.80000000000000004</size>
+            </box>
+          </geometry>
+          <material>
+            <diffuse>0 0 1 1</diffuse>
+            <ambient>0 0 1 1</ambient>
+          </material>
+        </visual>
+        <enable_wind>false</enable_wind>
+      </link>
+    </model>
 
 
   </world>