diff --git a/ar4_description/config/link_properties.yaml b/ar4_description/config/link_properties.yaml
index 3fe3c75..316b375 100644
--- a/ar4_description/config/link_properties.yaml
+++ b/ar4_description/config/link_properties.yaml
@@ -246,3 +246,65 @@ link_6:
       dr: 0.0
       dp: 0.0
       dY: 0.0
+
+gripper_base:
+  inertial:
+    size:
+      dx: 0.035
+      dy: 0.02
+      dz: 0.02
+    mass: 0.08
+    origin:
+      dx: 0.0
+      dy: -0.025
+      dz: 0.0
+      dr: 0.0
+      dp: 0.0
+      dY: 0.0
+  visual:
+    origin:
+      dx: 0.0
+      dy: 0.0
+      dz: 0.0
+      dr: 0.0
+      dp: 0.0
+      dY: 0.0
+  collision:
+    origin:
+      dx: 0.0
+      dy: 0.0
+      dz: 0.0
+      dr: 0.0
+      dp: 0.0
+      dY: 0.0
+
+finger:
+  inertial:
+    size:
+      dx: 0.007
+      dy: 0.015
+      dz: 0.02
+    mass: 0.01
+    origin:
+      dx: -0.005
+      dy: -0.015
+      dz: 0.0
+      dr: 0.0
+      dp: 0.0
+      dY: 0.0
+  visual:
+    origin:
+      dx: 0.0
+      dy: 0.0
+      dz: 0.0
+      dr: 0.0
+      dp: 0.0
+      dY: 0.0
+  collision:
+    origin:
+      dx: 0.0
+      dy: 0.0
+      dz: 0.0
+      dr: 0.0
+      dp: 0.0
+      dY: 0.0
diff --git a/ar4_description/meshes/gripper_base.stl b/ar4_description/meshes/gripper_base.stl
new file mode 100644
index 0000000..9157ca0
Binary files /dev/null and b/ar4_description/meshes/gripper_base.stl differ
diff --git a/ar4_description/meshes/gripper_finger.stl b/ar4_description/meshes/gripper_finger.stl
new file mode 100644
index 0000000..3f85a00
Binary files /dev/null and b/ar4_description/meshes/gripper_finger.stl differ
diff --git a/ar4_description/urdf/ar4.urdf.xacro b/ar4_description/urdf/ar4.urdf.xacro
index c9fd6ed..a14aa08 100644
--- a/ar4_description/urdf/ar4.urdf.xacro
+++ b/ar4_description/urdf/ar4.urdf.xacro
@@ -111,4 +111,31 @@
     <axis xyz="0 0 1"/>
     <limit lower="${-1.0 * robot_parameters['j6_limit']}" upper="${robot_parameters['j6_limit']}" effort="100" velocity="1.0"/>
   </joint>
+
+  <xacro:gripper_base parent="link_6"
+                      inertial="${robot_properties['gripper_base']['inertial']}"
+                      visual="${robot_properties['gripper_base']['visual']}"
+                      collision="${robot_properties['gripper_base']['collision']}">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </xacro:gripper_base>
+
+  <xacro:finger number="1"
+                pitch_rotation="0.0"
+                mimic="false"
+                inertial="${robot_properties['finger']['inertial']}"
+                visual="${robot_properties['finger']['visual']}"
+                collision="${robot_properties['finger']['collision']}">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </xacro:finger>
+
+  <xacro:finger number="2"
+                pitch_rotation="${-pi}"
+                mimic="true"
+                inertial="${robot_properties['finger']['inertial']}"
+                visual="${robot_properties['finger']['visual']}"
+                collision="${robot_properties['finger']['collision']}">
+    <origin xyz="0 0 0" rpy="0 0 0" />
+  </xacro:finger>
+
+
 </robot>
diff --git a/ar4_description/urdf/include/common_macros.urdf.xacro b/ar4_description/urdf/include/common_macros.urdf.xacro
index db38bd9..92adae4 100644
--- a/ar4_description/urdf/include/common_macros.urdf.xacro
+++ b/ar4_description/urdf/include/common_macros.urdf.xacro
@@ -47,6 +47,61 @@
   </xacro:if>
 </xacro:macro>
 
+<!-- ===================== Gripper base xacro ================================== -->
+  <xacro:macro name="gripper_base" params="parent *origin inertial visual collision">
+
+    <joint name="gripper_base_joint" type="fixed">
+      <origin xyz="0.0 0.0 0.0" rpy="${-pi/2} 0.0 ${pi}"/>
+      <parent link="${parent}"/>
+      <child link="gripper_base_link"/>
+    </joint>
+
+    <link name="gripper_base_link">
+      <xacro:insert_block name="origin"/>
+
+      <xacro:box_inertia m="${inertial['mass']}"
+                         x="${inertial['size']['dx']}"
+                         y="${inertial['size']['dy']}"
+                         z="${inertial['size']['dz']}"
+                         o_xyz="${inertial['origin']['dx']} ${inertial['origin']['dy']} ${inertial['origin']['dz']}"
+                         o_rpy="${inertial['origin']['dr']} ${inertial['origin']['dp']} ${inertial['origin']['dY']}">
+      </xacro:box_inertia>
+
+      <xacro:mesh_loop meshes="${['gripper_base']}" materials="${['grey']}" visual="${visual}" collision="${collision}" />
+
+    </link>
+
+  </xacro:macro>
+
+<!-- ===================== Gripper finger ================================== -->
+  <xacro:macro name="finger" params="number pitch_rotation mimic *origin inertial visual collision">
+
+    <joint name="finger_joint${number}" type="prismatic">
+      <origin xyz="0.0 -0.036 0" rpy="0.0 ${pitch_rotation} 0.0"/>
+      <parent link="gripper_base_link"/>
+      <child link="finger${number}"/>
+      <axis xyz="1 0 0"/>
+      <limit lower="-0.014" upper="0" effort="100" velocity="1.0"/>
+      <xacro:if value="${mimic == 'true'}">
+        <mimic joint="finger_joint1" multiplier="1" offset="0"/>
+      </xacro:if>
+    </joint>
+
+    <link name="finger${number}">
+      <xacro:insert_block name="origin"/>
+
+      <xacro:box_inertia m="${inertial['mass']}"
+                         x="${inertial['size']['dx']}"
+                         y="${inertial['size']['dy']}"
+                         z="${inertial['size']['dz']}"
+                         o_xyz="${inertial['origin']['dx']} ${inertial['origin']['dy']} ${inertial['origin']['dz']}"
+                         o_rpy="${inertial['origin']['dr']} ${inertial['origin']['dp']} ${inertial['origin']['dY']}">
+      </xacro:box_inertia>
+
+      <xacro:mesh_loop meshes="${['gripper_finger']}" materials="${['black']}" visual="${visual}" collision="${collision}" />
+    </link>
+
+  </xacro:macro>
 
 
 <!-- ===================== Box inertia xacro ================================== -->