diff --git a/pepper_description/urdf/pepper1.0_generated_urdf/pepper.urdf b/pepper_description/urdf/pepper1.0_generated_urdf/pepper.urdf
index f2ea6d8..e457182 100644
--- a/pepper_description/urdf/pepper1.0_generated_urdf/pepper.urdf
+++ b/pepper_description/urdf/pepper1.0_generated_urdf/pepper.urdf
@@ -299,8 +299,20 @@
       <origin rpy="0 0 0" xyz="0 0 0"/>
     </collision>
   </link>
-  <joint name="LHand" type="revolute">
+  <joint name="LGrasp" type="revolute">
     <parent link="l_wrist"/>
+    <child link="l_grasp_link"/>
+    <origin rpy="0 0 0" xyz="0.065 0 0"/>
+    <limit effort="0.0" lower="0.0" upper="0.0" velocity="0.0"/>
+  </joint>
+  <link name="l_grasp_link">
+    <inertial>
+      <mass value="2e-06"/>
+      <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+    </inertial>
+  </link>
+  <joint name="LHand" type="revolute">
+    <parent link="l_grasp_link"/>
     <child link="l_gripper"/>
     <origin rpy="0 0 0" xyz="0.025 0 0"/>
     <axis xyz="1.0 0 0"/>
@@ -442,8 +454,20 @@
       <origin rpy="0 0 0" xyz="0 0 0"/>
     </collision>
   </link>
-  <joint name="RHand" type="revolute">
+  <joint name="RGrasp" type="revolute">
     <parent link="r_wrist"/>
+    <child link="r_grasp_link"/>
+    <origin rpy="0.0 0 0" xyz="0.065 0 0"/>
+    <limit effort="0.0" lower="0.0" upper="0.0" velocity="0.0"/>
+  </joint>
+  <link name="r_grasp_link">
+    <inertial>
+      <mass value="2e-06"/>
+      <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+    </inertial>
+  </link>
+  <joint name="RHand" type="revolute">
+    <parent link="r_grasp_link"/>
     <child link="r_gripper"/>
     <origin rpy="0 0 0" xyz="0.025 0 0"/>
     <axis xyz="1.0 0 0"/>
@@ -1677,6 +1701,9 @@
     <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="l_gripper">
       <link>l_gripper</link>
     </plugin>
+    <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="l_grasp_link">
+      <link>l_grasp_link</link>
+    </plugin>
     <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="RFinger11_link">
       <link>RFinger11_link</link>
     </plugin>
@@ -1722,6 +1749,9 @@
     <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="r_gripper">
       <link>r_gripper</link>
     </plugin>
+    <plugin filename="libroboticsgroup_gazebo_disable_link_plugin.so" name="r_grasp_link">
+      <link>r_grasp_link</link>
+    </plugin>
   </gazebo>
   <!-- END OF GAZEBO ROS CONTROL PLUGIN -->
   <!-- GAZEBO MATERIALS -->
@@ -1786,6 +1816,12 @@
     <selfCollide>false</selfCollide>
     <turnGravityOff>false</turnGravityOff>
   </gazebo>
+  <gazebo reference="l_grasp_link">
+    <mu1>0.5</mu1>
+    <mu2>0.5</mu2>
+    <selfCollide>false</selfCollide>
+    <turnGravityOff>false</turnGravityOff>
+  </gazebo>
   <gazebo reference="l_gripper">
     <mu1>0.5</mu1>
     <mu2>0.5</mu2>
@@ -1822,6 +1858,12 @@
     <selfCollide>false</selfCollide>
     <turnGravityOff>false</turnGravityOff>
   </gazebo>
+  <gazebo reference="r_grasp_link">
+    <mu1>0.5</mu1>
+    <mu2>0.5</mu2>
+    <selfCollide>false</selfCollide>
+    <turnGravityOff>false</turnGravityOff>
+  </gazebo>
   <gazebo reference="r_gripper">
     <mu1>0.5</mu1>
     <mu2>0.5</mu2>
@@ -2403,6 +2445,16 @@
       <mechanicalReduction>118.1</mechanicalReduction>
     </actuator>
   </transmission>
+  <transmission name="LGrasp_Transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="LGrasp">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="LGrasp_Motor">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>36.24</mechanicalReduction>
+    </actuator>
+  </transmission>
   <transmission name="LHand_Transmission">
     <type>transmission_interface/SimpleTransmission</type>
     <joint name="LHand">
@@ -2463,6 +2515,16 @@
       <mechanicalReduction>118.1</mechanicalReduction>
     </actuator>
   </transmission>
+  <transmission name="RGrasp_Transmission">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="RGrasp">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="RGrasp_Motor">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>36.24</mechanicalReduction>
+    </actuator>
+  </transmission>
   <transmission name="RHand_Transmission">
     <type>transmission_interface/SimpleTransmission</type>
     <joint name="RHand">
diff --git a/pepper_description/urdf/pepper1.0_generated_urdf/pepperGazebo.xacro b/pepper_description/urdf/pepper1.0_generated_urdf/pepperGazebo.xacro
index 8a65396..766b95d 100644
--- a/pepper_description/urdf/pepper1.0_generated_urdf/pepperGazebo.xacro
+++ b/pepper_description/urdf/pepper1.0_generated_urdf/pepperGazebo.xacro
@@ -48,6 +48,9 @@
         <plugin name="${side_small}_gripper" filename="libroboticsgroup_gazebo_disable_link_plugin.so">
             <link>${side_small}_gripper</link>
         </plugin>
+        <plugin name="${side_small}_grasp_link" filename="libroboticsgroup_gazebo_disable_link_plugin.so">
+            <link>${side_small}_grasp_link</link>
+        </plugin>
     </xacro:macro> 
     <!-- MACROS FOR MIMIC JOINTS -->
     <!-- Fingers -->
@@ -179,6 +182,12 @@
         <selfCollide>false</selfCollide>
         <turnGravityOff>false</turnGravityOff>
     </gazebo>
+    <gazebo reference="l_grasp_link">
+        <mu1>0.5</mu1>
+        <mu2>0.5</mu2>
+        <selfCollide>false</selfCollide>
+        <turnGravityOff>false</turnGravityOff>
+    </gazebo>
     <gazebo reference="l_gripper">
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
@@ -216,6 +225,12 @@
         <selfCollide>false</selfCollide>
         <turnGravityOff>false</turnGravityOff>
     </gazebo>
+    <gazebo reference="r_grasp_link">
+        <mu1>0.5</mu1>
+        <mu2>0.5</mu2>
+        <selfCollide>false</selfCollide>
+        <turnGravityOff>false</turnGravityOff>
+    </gazebo>
     <gazebo reference="r_gripper">
         <mu1>0.5</mu1>
         <mu2>0.5</mu2>
diff --git a/pepper_description/urdf/pepper1.0_generated_urdf/pepperTransmission.xacro b/pepper_description/urdf/pepper1.0_generated_urdf/pepperTransmission.xacro
index da5eff8..5f1cdaa 100644
--- a/pepper_description/urdf/pepper1.0_generated_urdf/pepperTransmission.xacro
+++ b/pepper_description/urdf/pepper1.0_generated_urdf/pepperTransmission.xacro
@@ -87,6 +87,16 @@
 				<mechanicalReduction>${speed_red_type2A}</mechanicalReduction>
 			</actuator>
 		</transmission>
+		<transmission name="${side}Grasp_Transmission">
+			<type>transmission_interface/SimpleTransmission</type>
+			<joint name="${side}Grasp">
+				<hardwareInterface>PositionJointInterface</hardwareInterface>
+			</joint>
+			<actuator name="${side}Grasp_Motor">
+				<hardwareInterface>PositionJointInterface</hardwareInterface>
+				<mechanicalReduction>${speed_red_type3B}</mechanicalReduction>
+			</actuator>
+		</transmission>
 		<transmission name="${side}Hand_Transmission">
 			<type>transmission_interface/SimpleTransmission</type>
 			<joint name="${side}Hand">
diff --git a/pepper_description/urdf/pepper1.0_generated_urdf/pepper_arms.xacro b/pepper_description/urdf/pepper1.0_generated_urdf/pepper_arms.xacro
index 026c270..e6edc61 100644
--- a/pepper_description/urdf/pepper1.0_generated_urdf/pepper_arms.xacro
+++ b/pepper_description/urdf/pepper1.0_generated_urdf/pepper_arms.xacro
@@ -78,8 +78,20 @@
 		</inertial>
 		<xacro:insert_visu_l_wrist/>
 	</link>
-	<joint name="LHand" type="revolute">
+	<joint name="LGrasp" type="revolute">
 		<parent link="l_wrist"/>
+		<child link="l_grasp_link"/>
+		<origin rpy="0 0 0" xyz="0.065 0 0"/>
+		<limit effort="0.0" lower="0.0" upper="0.0" velocity="0.0"/>
+	</joint>
+	<link name="l_grasp_link">
+		<inertial>
+			<mass value="2e-06"/>
+			<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+		</inertial>
+	</link>
+	<joint name="LHand" type="revolute">
+		<parent link="l_grasp_link"/>
 		<child link="l_gripper"/>
 		<origin rpy="0 0 0" xyz="0.025 0 0"/>
 		<axis xyz="1.0 0 0"/>
@@ -166,8 +178,20 @@
 		</inertial>
 		<xacro:insert_visu_r_wrist/>
 	</link>
-	<joint name="RHand" type="revolute">
+	<joint name="RGrasp" type="revolute">
 		<parent link="r_wrist"/>
+		<child link="r_grasp_link"/>
+		<origin rpy="0.0 0 0" xyz="0.065 0 0"/>
+		<limit effort="0.0" lower="0.0" upper="0.0" velocity="0.0"/>
+	</joint>
+	<link name="r_grasp_link">
+		<inertial>
+			<mass value="2e-06"/>
+			<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+		</inertial>
+	</link>
+	<joint name="RHand" type="revolute">
+		<parent link="r_grasp_link"/>
 		<child link="r_gripper"/>
 		<origin rpy="0 0 0" xyz="0.025 0 0"/>
 		<axis xyz="1.0 0 0"/>