diff --git a/src/iiwa_config/config/moveit/iiwa7.srdf b/src/iiwa_config/config/moveit/iiwa7.srdf
index 375d3bf..9fba6d1 100644
--- a/src/iiwa_config/config/moveit/iiwa7.srdf
+++ b/src/iiwa_config/config/moveit/iiwa7.srdf
@@ -40,6 +40,15 @@
     </group_state>
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
     <end_effector name="hand" parent_link="link_ee" group="iiwa_arm"/>
+    <!--PASSIVE JOINTS: MoveIt не ожидает их в /joint_states и не планирует ими.
+        Геометрия захвата всё равно учитывается при проверке коллизий.-->
+    <passive_joint name="base_screw"/>
+    <passive_joint name="craving1_joint"/>
+    <passive_joint name="craving2_joint"/>
+    <passive_joint name="craving3_joint"/>
+    <passive_joint name="finger1_joint"/>
+    <passive_joint name="finger2_joint"/>
+    <passive_joint name="finger3_joint"/>
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
     <virtual_joint name="virtual" type="fixed" parent_frame="word" child_link="base_link"/>
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
@@ -68,4 +77,31 @@
     <disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
     <disable_collisions link1="link5" link2="link7" reason="Never"/>
     <disable_collisions link1="link6" link2="link7" reason="Adjacent"/>
+    <!-- Захват -->
+    <disable_collisions link1="link7" link2="base_frame" reason="Adjacent"/>
+    <disable_collisions link1="link7" link2="plate" reason="Never"/>
+    <disable_collisions link1="link7" link2="screw" reason="Never"/>
+    <disable_collisions link1="link7" link2="craving1" reason="Never"/>
+    <disable_collisions link1="link7" link2="craving2" reason="Never"/>
+    <disable_collisions link1="link7" link2="craving3" reason="Never"/>
+    <disable_collisions link1="link7" link2="finger1" reason="Never"/>
+    <disable_collisions link1="link7" link2="finger2" reason="Never"/>
+    <disable_collisions link1="link7" link2="finger3" reason="Never"/>
+    <disable_collisions link1="base_frame" link2="plate" reason="Adjacent"/>
+    <disable_collisions link1="base_frame" link2="screw" reason="Adjacent"/>
+    <disable_collisions link1="base_frame" link2="craving1" reason="Never"/>
+    <disable_collisions link1="base_frame" link2="craving2" reason="Never"/>
+    <disable_collisions link1="base_frame" link2="craving3" reason="Never"/>
+    <disable_collisions link1="plate" link2="finger1" reason="Adjacent"/>
+    <disable_collisions link1="plate" link2="finger2" reason="Adjacent"/>
+    <disable_collisions link1="plate" link2="finger3" reason="Adjacent"/>
+    <disable_collisions link1="screw" link2="craving1" reason="Adjacent"/>
+    <disable_collisions link1="screw" link2="craving2" reason="Adjacent"/>
+    <disable_collisions link1="screw" link2="craving3" reason="Adjacent"/>
+    <disable_collisions link1="craving1" link2="craving2" reason="Never"/>
+    <disable_collisions link1="craving1" link2="craving3" reason="Never"/>
+    <disable_collisions link1="craving2" link2="craving3" reason="Never"/>
+    <disable_collisions link1="finger1" link2="finger2" reason="Never"/>
+    <disable_collisions link1="finger1" link2="finger3" reason="Never"/>
+    <disable_collisions link1="finger2" link2="finger3" reason="Never"/>
 </robot>
diff --git a/src/iiwa_config/config/setting.yaml b/src/iiwa_config/config/setting.yaml
index 7d4e295..450ae7c 100644
--- a/src/iiwa_config/config/setting.yaml
+++ b/src/iiwa_config/config/setting.yaml
@@ -16,7 +16,7 @@ digital_twin:
   rviz:
     config: pkg://iiwa_config/config/rviz/rviz_moveit.rviz
 
-  description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro
+  description: pkg://iiwa_description/urdf/iiwa7_digital.urdf.xacro
 
 controller:
   controller_path: pkg://iiwa_config/config/moveit/iiwa_controller.yaml
diff --git a/src/iiwa_description/resource/meshes/gripper/base_frame.stl b/src/iiwa_description/resource/meshes/gripper/base_frame.stl
index ad87404..ba22aa7 100644
Binary files a/src/iiwa_description/resource/meshes/gripper/base_frame.stl and b/src/iiwa_description/resource/meshes/gripper/base_frame.stl differ
diff --git a/src/iiwa_description/resource/meshes/gripper/craving.stl b/src/iiwa_description/resource/meshes/gripper/craving.stl
index fa27edb..9b0a1b8 100644
Binary files a/src/iiwa_description/resource/meshes/gripper/craving.stl and b/src/iiwa_description/resource/meshes/gripper/craving.stl differ
diff --git a/src/iiwa_description/resource/meshes/gripper/finger.stl b/src/iiwa_description/resource/meshes/gripper/finger.stl
deleted file mode 100644
index f0332d8..0000000
Binary files a/src/iiwa_description/resource/meshes/gripper/finger.stl and /dev/null differ
diff --git a/src/iiwa_description/resource/meshes/gripper/finger_plates.stl b/src/iiwa_description/resource/meshes/gripper/finger_plates.stl
new file mode 100644
index 0000000..bc30f3f
Binary files /dev/null and b/src/iiwa_description/resource/meshes/gripper/finger_plates.stl differ
diff --git a/src/iiwa_description/resource/meshes/gripper/plate.stl b/src/iiwa_description/resource/meshes/gripper/plate.stl
index bf3af7b..57f8afb 100644
Binary files a/src/iiwa_description/resource/meshes/gripper/plate.stl and b/src/iiwa_description/resource/meshes/gripper/plate.stl differ
diff --git a/src/iiwa_description/resource/meshes/gripper/screw.stl b/src/iiwa_description/resource/meshes/gripper/screw.stl
index 8145007..82c1962 100644
Binary files a/src/iiwa_description/resource/meshes/gripper/screw.stl and b/src/iiwa_description/resource/meshes/gripper/screw.stl differ
diff --git a/src/iiwa_description/urdf/gripper.urdf b/src/iiwa_description/urdf/gripper.urdf
deleted file mode 100644
index 6a4bee9..0000000
--- a/src/iiwa_description/urdf/gripper.urdf
+++ /dev/null
@@ -1,167 +0,0 @@
-<?xml version="1.0"?>
-<robot name="gripper">
-    
-    <link name="base_frame">
-        <visual>
-            <origin xyz="-21 -21 6" rpy="0 0 0"/>
-            <geometry>
-                <mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/base_frame.stl" />
-            </geometry>
-        </visual>
-        <collision>
-            <origin xyz="-21 -21 6" rpy="0 0 0"/>
-            <geometry>
-                <mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/base_frame.stl" />
-            </geometry>
-        </collision>
-        <inertial>
-            <mass value="0.0"/>
-            <origin xyz=" 0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
-        </inertial>
-    </link>
-
-    <link name="plate">
-        <visual>
-            <geometry>
-                <mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/plate.stl"/>
-            </geometry>
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/plate.stl"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <mass value="0.0"/>
-            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
-        </inertial>
-    </link>
-
-    <link name="screw">
-        <inertial>
-            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-            <mass value="0.0"/>
-            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
-        </inertial>
-        <visual name="">
-            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-            <geometry>
-                <mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/screw.stl"/>
-            </geometry>
-        </visual>
-        <collision>
-            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
-            <geometry>
-                <mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/screw.stl"/>
-            </geometry>
-        </collision>
-    </link>
-
-    <link name="craving1">
-        <inertial>
-            <origin xyz="0.0 0.0 0" rpy="0.0 0.0 0.0"/>
-            <mass value="0.0"/>
-            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
-        </inertial>
-        <visual name="">
-            <origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
-            <geometry>
-                <mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
-            </geometry>
-        </visual>
-        <collision>
-            <origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
-            <geometry>
-                <mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
-            </geometry>
-        </collision>
-    </link>
-
-    <link name="craving2">
-        <inertial>
-            <origin xyz="0.0 0.0 0" rpy="0.0 0.0 0.0"/>
-            <mass value="0.0"/>
-            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
-        </inertial>
-        <visual name="">
-            <origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
-            <geometry>
-                <mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
-            </geometry>
-        </visual>
-        <collision>
-            <origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
-            <geometry>
-                <mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
-            </geometry>
-        </collision>
-    </link>
-
-    <link name="craving3">
-        <inertial>
-            <origin xyz="0.0 0.0 0" rpy="0.0 0.0 0.0"/>
-            <mass value="0.0"/>
-            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
-        </inertial>
-        <visual name="">
-            <origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
-            <geometry>
-                <mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
-            </geometry>
-        </visual>
-        <collision>
-            <origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
-            <geometry>
-                <mesh filename="/home/daniel/dev/ros2_iiwa7/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
-            </geometry>
-        </collision>
-    </link>
-
-    <joint name="base" type="fixed">
-        <origin xyz="0.0 0.0 61" rpy="0.0 0.0 0.0"/>
-        <parent link="base_frame"/>
-        <child link="plate"/>
-    </joint>
-
-    <joint name="base_screw" type="prismatic">
-        <origin xyz="0.0 0.0 72" rpy="0.0 0.0 0.0"/>
-        <parent link="base_frame"/>
-        <child link="screw"/>
-        <axis xyz="0.0 0.0 1"/>
-        <limit lower="-7" upper="0.0" effort="0.0" velocity="0.0"/>
-    </joint>
-
-    <joint name="craving1_joint" type="revolute">
-        <origin xyz="15.5 -9.5 4" rpy="0.0 0 -0.55"/> 
-        <parent link="screw"/>
-        <child link="craving1"/>
-        <axis xyz="0.0 1 0.0"/>
-        <limit lower="-0.3" upper="0.2" effort="5.0" velocity="1.0"/>
-        <dynamics damping="0.05" friction="0.05"/>
-        <mimic joint="base_screw" multiplier="0.07" offset="0.2"/>
-    </joint>
-
-    <joint name="craving2_joint" type="revolute">
-        <origin xyz="-15.5 -9.5 4" rpy="0.0 0 0.55"/> 
-        <parent link="screw"/>
-        <child link="craving2"/>
-        <axis xyz="0.0 1 0.0"/>
-        <limit lower="-0.2" upper="0.3" effort="5.0" velocity="1.0"/>
-        <dynamics damping="0.05" friction="0.05"/>
-        <mimic joint="base_screw" multiplier="-0.07" offset="-0.2"/>
-    </joint>
-
-    <joint name="craving3_joint" type="revolute">
-        <origin xyz="0 18 4" rpy="0.0 0 1.57"/> 
-        <parent link="screw"/>
-        <child link="craving3"/>
-        <axis xyz="0.0 1 0.0"/>
-        <limit lower="-0.3" upper="0.2" effort="5.0" velocity="1.0"/>
-        <dynamics damping="0.05" friction="0.05"/>
-        <mimic joint="base_screw" multiplier="0.07" offset="0.2"/>
-    </joint>
-
-
-</robot>
diff --git a/src/iiwa_description/urdf/gripper/___gripper.urdf b/src/iiwa_description/urdf/gripper/___gripper.urdf
new file mode 100644
index 0000000..9726af4
--- /dev/null
+++ b/src/iiwa_description/urdf/gripper/___gripper.urdf
@@ -0,0 +1,280 @@
+<?xml version="1.0"?>
+<robot name="gripper">
+    
+    <link name="base_frame">
+        <visual>
+            <origin xyz="-21 -21 6" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/base_frame.stl" />
+            </geometry>
+            <material name="black_plastic">
+                <color rgba="0.05 0.05 0.05 1.0"/>
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="-21 -21 6" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/base_frame.stl" />
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="0.0"/>
+            <origin xyz=" 0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+        </inertial>
+    </link>
+
+    <link name="plate">
+        <visual>
+            <geometry>
+                <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/plate.stl"/>
+            </geometry>
+            <material name="alum_plastic">
+                <color rgba="0.7 0.7 0.7 1.0"/>
+            </material>
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/plate.stl"/>
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="0.0"/>
+            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+        </inertial>
+    </link>
+
+    <link name="screw">
+        <inertial>
+            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+            <mass value="0.0"/>
+            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+        </inertial>
+        <visual name="">
+            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+            <geometry>
+                <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/screw.stl"/>
+            </geometry>
+            <material name="alum_plastic">
+                <color rgba="0.7 0.7 0.7 1.0"/>
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+            <geometry>
+                <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/screw.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="craving1">
+        <inertial>
+            <origin xyz="0.0 0.0 0" rpy="0.0 0.0 0.0"/>
+            <mass value="0.0"/>
+            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+        </inertial>
+        <visual name="">
+            <origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
+            <geometry>
+                <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
+            </geometry>
+            <material name="alum_plastic">
+                <color rgba="0.7 0.7 0.7 1.0"/>
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
+            <geometry>
+                <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="craving2">
+        <inertial>
+            <origin xyz="0.0 0.0 0" rpy="0.0 0.0 0.0"/>
+            <mass value="0.0"/>
+            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+        </inertial>
+        <visual name="">
+            <origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
+            <geometry>
+                <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
+            </geometry>
+            <material name="alum_plastic">
+                <color rgba="0.7 0.7 0.7 1.0"/>
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
+            <geometry>
+                <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="craving3">
+        <inertial>
+            <origin xyz="0.0 0.0 0" rpy="0.0 0.0 0.0"/>
+            <mass value="0.0"/>
+            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+        </inertial>
+        <visual name="">
+            <origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
+            <geometry>
+                <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
+            </geometry>
+            <material name="alum_plastic">
+                <color rgba="0.7 0.7 0.7 1.0"/>
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="-4 -7 19" rpy="0.0 1.57 0"/>
+            <geometry>
+                <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/craving.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="finger1">
+        <inertial>
+            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+            <mass value="0.0"/>
+            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+        </inertial>
+        <visual name="">
+            <origin xyz="9 -25 5" rpy="0.0 -1.57 0.0"/>
+            <geometry>
+                <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/finger_plates.stl"/>
+            </geometry>
+            <material name="">
+                <color rgba="0.0 0.8 1.0 1.0"/>
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="9 -25 5" rpy="0.0 -1.57 0.0"/>
+            <geometry>
+                <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/finger_plates.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="finger2">
+        <inertial>
+            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+            <mass value="0.0"/>
+            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+        </inertial>
+        <visual name="">
+            <origin xyz="9 -25 5" rpy="0.0 -1.57 0.0"/>
+            <geometry>
+                <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/finger_plates.stl"/>
+            </geometry>
+            <material name="">
+                <color rgba="0.0 0.8 1.0 1.0"/>
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="9 -25 5" rpy="0.0 -1.57 0.0"/>
+            <geometry>
+                <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/finger_plates.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <link name="finger3">
+        <inertial>
+            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+            <mass value="0.0"/>
+            <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+        </inertial>
+        <visual name="">
+            <origin xyz="9 -25 5" rpy="0.0 -1.57 0.0"/>
+            <geometry>
+                <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/finger_plates.stl"/>
+            </geometry>
+            <material name="">
+                <color rgba="0.0 0.8 1.0 1.0"/>
+            </material>
+        </visual>
+        <collision>
+            <origin xyz="9 -25 5" rpy="0.0 -1.57 0.0"/>
+            <geometry>
+                <mesh filename="/home/daniel/dev/kuka_iiwa7_ros2/src/iiwa_description/resource/meshes/gripper/finger_plates.stl"/>
+            </geometry>
+        </collision>
+    </link>
+
+    <joint name="base" type="fixed">
+        <origin xyz="0.0 0.0 61" rpy="0.0 0.0 0.0"/>
+        <parent link="base_frame"/>
+        <child link="plate"/>
+    </joint>
+
+    <joint name="base_screw" type="prismatic">
+        <origin xyz="0.0 0.0 72" rpy="0.0 0.0 0.0"/>
+        <parent link="base_frame"/>
+        <child link="screw"/>
+        <axis xyz="0.0 0.0 1"/>
+        <limit lower="-7" upper="0.0" effort="0.0" velocity="0.0"/>
+    </joint>
+
+    <joint name="craving1_joint" type="revolute">
+        <origin xyz="15.5 -9.5 4" rpy="0.0 0 -0.55"/> 
+        <parent link="screw"/>
+        <child link="craving1"/>
+        <axis xyz="0.0 1 0.0"/>
+        <limit lower="-0.25" upper="-0.2" effort="5.0" velocity="1.0"/>
+        <dynamics damping="0.05" friction="0.05"/>
+        <mimic joint="base_screw" multiplier="0.0001" offset="-0.25"/>
+    </joint>
+
+    <joint name="craving2_joint" type="revolute">
+        <origin xyz="-15.5 -9.5 4" rpy="0.0 0 0.55"/> 
+        <parent link="screw"/>
+        <child link="craving2"/>
+        <axis xyz="0.0 1 0.0"/>
+        <limit lower="0.2" upper="0.25" effort="5.0" velocity="1.0"/>
+        <dynamics damping="0.05" friction="0.05"/>
+        <mimic joint="base_screw" multiplier="0.0001" offset="0.2"/>
+    </joint>
+
+    <joint name="craving3_joint" type="revolute">
+        <origin xyz="0 18 4" rpy="0.0 0 1.57"/> 
+        <parent link="screw"/>
+        <child link="craving3"/>
+        <axis xyz="0.0 1 0.0"/>
+        <limit lower="-0.25" upper="-0.2" effort="5.0" velocity="1.0"/>
+        <dynamics damping="0.05" friction="0.05"/>
+        <mimic joint="base_screw" multiplier="0.0001" offset="-0.25"/>
+    </joint>
+
+    <joint name="finger1_joint" type="revolute">
+        <origin xyz="31.5 -18.5 28" rpy="0.0 0.0 -2.12"/>
+        <parent link="plate"/>
+        <child link="finger1"/>
+        <axis xyz="1 0.0 0"/>
+        <limit lower="-0.2" upper="0.09" effort="0.0" velocity="0.0"/>
+        <mimic joint="base_screw" multiplier="-0.05" offset="-0.2"/>
+    </joint>
+
+    <joint name="finger2_joint" type="revolute">
+        <origin xyz="-31.5 -18.5 28" rpy="0.0 0.0 2.12"/>
+        <parent link="plate"/>
+        <child link="finger2"/>
+        <axis xyz="1 0.0 0"/>
+        <limit lower="-0.2" upper="0.09" effort="0.0" velocity="0.0"/>
+        <mimic joint="base_screw" multiplier="-0.05" offset="-0.2"/>
+    </joint>
+
+    <joint name="finger3_joint" type="revolute">
+        <origin xyz="0 37 28" rpy="0.0 0.0 0.0"/>
+        <parent link="plate"/>
+        <child link="finger3"/>
+        <axis xyz="1 0.0 0"/>
+        <limit lower="-0.2" upper="0.09" effort="0.0" velocity="0.0"/>
+        <mimic joint="base_screw" multiplier="-0.05" offset="-0.2"/>
+    </joint>
+
+</robot>
diff --git a/src/iiwa_description/urdf/gripper/gripper.xacro b/src/iiwa_description/urdf/gripper/gripper.xacro
new file mode 100644
index 0000000..7c70a9e
--- /dev/null
+++ b/src/iiwa_description/urdf/gripper/gripper.xacro
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<!-- Захват для Webots digital twin: все суставы fixed, без физики суставов.
+     Для реального робота используй gripper.xacro. -->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" xacro:version="1.0">
+
+    <!-- Digital: box collision вместо mesh, все суставы с правильной физикой -->
+    <xacro:include filename="$(find iiwa_description)/urdf/gripper/gripper_links.xacro"/>
+    <xacro:include filename="$(find iiwa_description)/urdf/gripper/gripper_joints.xacro"/>
+
+    <joint name="gripper_attach_joint" type="fixed">
+        <origin xyz="0.0 0.0 0" rpy="0.0 0.0 0.0"/>
+        <parent link="link_ee"/>
+        <child link="base_frame"/>
+    </joint>
+
+</robot>
diff --git a/src/iiwa_description/urdf/gripper/gripper_joints.xacro b/src/iiwa_description/urdf/gripper/gripper_joints.xacro
new file mode 100644
index 0000000..855facb
--- /dev/null
+++ b/src/iiwa_description/urdf/gripper/gripper_joints.xacro
@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" xacro:version="1.0">
+
+    <xacro:include filename="$(find iiwa_description)/urdf/gripper/gripper_macros.xacro"/>
+
+    <joint name="base_joint" type="fixed">
+        <origin xyz="0.0 0.0 0.061" rpy="0.0 0.0 0.0"/>
+        <parent link="base_frame"/>
+        <child link="plate"/>
+    </joint>
+
+    <xacro:prismatic_joint jname="base_screw"
+        parent="base_frame" child="screw"
+        xyz="0.0 0.0 0.072" rpy="0.0 0.0 0.0"
+        axis="0.0 0.0 1"
+        lower="-0.007" upper="0.0"
+        effort="50.0" velocity="0.05"/>
+
+    <xacro:mimic_revolute_joint jname="craving1_joint"
+        parent="screw" child="craving1"
+        xyz="0.0155 -0.0095 0.004" rpy="0.0 0 -0.55"
+        axis="0.0 1 0.0"
+        lower="-0.25" upper="-0.2" effort="5.0" velocity="1.0" damping="0.05"
+        mimic_joint="base_screw" multiplier="0.1" mimic_offset="-0.25"/>
+
+    <xacro:mimic_revolute_joint jname="craving2_joint"
+        parent="screw" child="craving2"
+        xyz="-0.0155 -0.0095 0.004" rpy="0.0 0 0.55"
+        axis="0.0 1 0.0"
+        lower="0.2" upper="0.25" effort="5.0" velocity="1.0" damping="0.05"
+        mimic_joint="base_screw" multiplier="0.1" mimic_offset="0.2"/>
+
+    <xacro:mimic_revolute_joint jname="craving3_joint"
+        parent="screw" child="craving3"
+        xyz="0 0.018 0.004" rpy="0.0 0 1.57"
+        axis="0.0 1 0.0"
+        lower="-0.25" upper="-0.2" effort="5.0" velocity="1.0" damping="0.05"
+        mimic_joint="base_screw" multiplier="0.1" mimic_offset="-0.25"/>
+
+
+    <xacro:mimic_revolute_joint jname="finger1_joint"
+        parent="plate" child="finger1"
+        xyz="0.0315 -0.0185 0.028" rpy="0.0 0.0 -2.12"
+        axis="1 0.0 0"
+        lower="-0.2" upper="0.09" effort="5.0" velocity="1.0" damping="0.0"
+        mimic_joint="base_screw" multiplier="-50" mimic_offset="-0.2"/>
+
+    <xacro:mimic_revolute_joint jname="finger2_joint"
+        parent="plate" child="finger2"
+        xyz="-0.0315 -0.0185 0.028" rpy="0.0 0.0 2.12"
+        axis="1 0.0 0"
+        lower="-0.2" upper="0.09" effort="5.0" velocity="1.0" damping="0.0"
+        mimic_joint="base_screw" multiplier="-50" mimic_offset="-0.2"/>
+
+    <xacro:mimic_revolute_joint jname="finger3_joint"
+        parent="plate" child="finger3"
+        xyz="0 0.037 0.028" rpy="0.0 0.0 0.0"
+        axis="1 0.0 0"
+        lower="-0.2" upper="0.09" effort="5.0" velocity="1.0" damping="0.0"
+        mimic_joint="base_screw" multiplier="-50" mimic_offset="-0.2"/>
+
+</robot>
\ No newline at end of file
diff --git a/src/iiwa_description/urdf/gripper/gripper_links.xacro b/src/iiwa_description/urdf/gripper/gripper_links.xacro
new file mode 100644
index 0000000..8c78431
--- /dev/null
+++ b/src/iiwa_description/urdf/gripper/gripper_links.xacro
@@ -0,0 +1,108 @@
+<?xml version="1.0"?>
+<!-- Links захвата для Webots digital twin.
+     Использует gripper_macros_digital.xacro: visual=mesh, collision=box.
+     Размеры box определены по смещениям суставов и геометрии захвата. -->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" xacro:version="1.0">
+
+    <xacro:include filename="$(find iiwa_description)/urdf/gripper/gripper_macros_digital.xacro"/>
+    <xacro:include filename="$(find iiwa_description)/urdf/gripper/gripper_meshes.xacro"/>
+
+    <xacro:property name="gripper_dark_r" value="0.05"/>
+    <xacro:property name="gripper_dark_g" value="0.05"/>
+    <xacro:property name="gripper_dark_b" value="0.05"/>
+
+    <xacro:property name="gripper_alum_r" value="0.7"/>
+    <xacro:property name="gripper_alum_g" value="0.7"/>
+    <xacro:property name="gripper_alum_b" value="0.7"/>
+
+    <xacro:property name="gripper_finger_r" value="0.0"/>
+    <xacro:property name="gripper_finger_g" value="0.8"/>
+    <xacro:property name="gripper_finger_b" value="1.0"/>
+
+    <!-- base_frame: основной корпус ~44×44×72mm -->
+    <xacro:gripper_link name="base_frame"
+        mass="0.3" xyz_iner="0 0 0.035"
+        ixx="0.00024" ixy="0.0" ixz="0.0"
+        iyy="0.00024" iyz="0.0" izz="0.00016"
+        mesh="${mesh_gripper_base_frame}"
+        visual_xyz="-0.021 -0.021 0.006" visual_rpy="0 0 0"
+        r="${gripper_dark_r}" g="${gripper_dark_g}" b="${gripper_dark_b}" a="1.0"
+        box_x="0.044" box_y="0.044" box_z="0.072" box_xyz="0 0 0.036"/>
+
+    <!-- plate: пластина ~70×70×10mm -->
+    <xacro:gripper_link name="plate"
+        mass="0.15" xyz_iner="0 0 0"
+        ixx="0.00012" ixy="0.0" ixz="0.0"
+        iyy="0.00012" iyz="0.0" izz="0.00018"
+        mesh="${mesh_gripper_plate}"
+        visual_xyz="0 0 0" visual_rpy="0 0 0"
+        r="${gripper_alum_r}" g="${gripper_alum_g}" b="${gripper_alum_b}" a="1.0"
+        box_x="0.070" box_y="0.070" box_z="0.012" box_xyz="0 0 0.006"/>
+
+    <!-- screw: ходовой винт ~20×20×15mm -->
+    <xacro:gripper_link name="screw"
+        mass="0.03" xyz_iner="0 0 0"
+        ixx="0.000024" ixy="0.0" ixz="0.0"
+        iyy="0.000024" iyz="0.0" izz="0.000012"
+        mesh="${mesh_gripper_screw}"
+        visual_xyz="0 0 0" visual_rpy="0 0 0"
+        r="${gripper_alum_r}" g="${gripper_alum_g}" b="${gripper_alum_b}" a="1.0"
+        box_x="0.020" box_y="0.020" box_z="0.015" box_xyz="0 0 0"/>
+
+    <!-- craving1/2/3: кулачки ~12×12×35mm -->
+    <xacro:gripper_link name="craving1"
+        mass="0.01" xyz_iner="0 0 0"
+        ixx="0.000008" ixy="0.0" ixz="0.0"
+        iyy="0.000008" iyz="0.0" izz="0.000004"
+        mesh="${mesh_gripper_craving}"
+        visual_xyz="-0.004 -0.007 0.019" visual_rpy="0 1.57 0"
+        r="${gripper_alum_r}" g="${gripper_alum_g}" b="${gripper_alum_b}" a="1.0"
+        box_x="0.012" box_y="0.012" box_z="0.035" box_xyz="0 0 0.017"/>
+
+    <xacro:gripper_link name="craving2"
+        mass="0.01" xyz_iner="0 0 0"
+        ixx="0.000008" ixy="0.0" ixz="0.0"
+        iyy="0.000008" iyz="0.0" izz="0.000004"
+        mesh="${mesh_gripper_craving}"
+        visual_xyz="-0.004 -0.007 0.019" visual_rpy="0 1.57 0"
+        r="${gripper_alum_r}" g="${gripper_alum_g}" b="${gripper_alum_b}" a="1.0"
+        box_x="0.012" box_y="0.012" box_z="0.035" box_xyz="0 0 0.017"/>
+
+    <xacro:gripper_link name="craving3"
+        mass="0.01" xyz_iner="0 0 0"
+        ixx="0.000008" ixy="0.0" ixz="0.0"
+        iyy="0.000008" iyz="0.0" izz="0.000004"
+        mesh="${mesh_gripper_craving}"
+        visual_xyz="-0.004 -0.007 0.019" visual_rpy="0 1.57 0"
+        r="${gripper_alum_r}" g="${gripper_alum_g}" b="${gripper_alum_b}" a="1.0"
+        box_x="0.012" box_y="0.012" box_z="0.035" box_xyz="0 0 0.017"/>
+
+    <!-- finger1/2/3: пальцы ~10×10×40mm -->
+    <xacro:gripper_link name="finger1"
+        mass="0.015" xyz_iner="0 0 0"
+        ixx="0.000012" ixy="0.0" ixz="0.0"
+        iyy="0.000012" iyz="0.0" izz="0.000004"
+        mesh="${mesh_gripper_finger}"
+        visual_xyz="0.009 -0.025 0.005" visual_rpy="0 -1.57 0"
+        r="${gripper_finger_r}" g="${gripper_finger_g}" b="${gripper_finger_b}" a="1.0"
+        box_x="0.010" box_y="0.010" box_z="0.040" box_xyz="0 0 0.020"/>
+
+    <xacro:gripper_link name="finger2"
+        mass="0.015" xyz_iner="0 0 0"
+        ixx="0.000012" ixy="0.0" ixz="0.0"
+        iyy="0.000012" iyz="0.0" izz="0.000004"
+        mesh="${mesh_gripper_finger}"
+        visual_xyz="0.009 -0.025 0.005" visual_rpy="0 -1.57 0"
+        r="${gripper_finger_r}" g="${gripper_finger_g}" b="${gripper_finger_b}" a="1.0"
+        box_x="0.010" box_y="0.010" box_z="0.040" box_xyz="0 0 0.020"/>
+
+    <xacro:gripper_link name="finger3"
+        mass="0.015" xyz_iner="0 0 0"
+        ixx="0.000012" ixy="0.0" ixz="0.0"
+        iyy="0.000012" iyz="0.0" izz="0.000004"
+        mesh="${mesh_gripper_finger}"
+        visual_xyz="0.009 -0.025 0.005" visual_rpy="0 -1.57 0"
+        r="${gripper_finger_r}" g="${gripper_finger_g}" b="${gripper_finger_b}" a="1.0"
+        box_x="0.010" box_y="0.010" box_z="0.040" box_xyz="0 0 0.020"/>
+
+</robot>
diff --git a/src/iiwa_description/urdf/gripper/gripper_macros.xacro b/src/iiwa_description/urdf/gripper/gripper_macros.xacro
new file mode 100644
index 0000000..30feb9c
--- /dev/null
+++ b/src/iiwa_description/urdf/gripper/gripper_macros.xacro
@@ -0,0 +1,70 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" xacro:version="1.0">
+
+
+    <xacro:macro name="gripper_link"
+                 params="name mass
+                         ixx ixy ixz iyy iyz izz xyz_iner
+                         mesh
+                         visual_xyz visual_rpy
+                         r g b a
+                         box_x box_y box_z box_xyz">
+        <link name="${name}">
+            <inertial>
+                <origin xyz="${xyz_iner}" rpy="0 0 0"/>
+                <mass value="${mass}"/>
+                <inertia ixx="${ixx}" ixy="${ixy}" ixz="${ixz}"
+                         iyy="${iyy}" iyz="${iyz}" izz="${izz}"/>
+            </inertial>
+            <visual>
+                <origin xyz="${visual_xyz}" rpy="${visual_rpy}"/>
+                <geometry>
+                    <mesh filename="${mesh}" scale="0.001 0.001 0.001"/>
+                </geometry>
+                <material name="${name}_material">
+                    <color rgba="${r} ${g} ${b} ${a}"/>
+                </material>
+            </visual>
+            <collision>
+                <origin xyz="${box_xyz}" rpy="0 0 0"/>
+                <geometry>
+                    <box size="${box_x} ${box_y} ${box_z}"/>
+                </geometry>
+            </collision>
+        </link>
+    </xacro:macro>
+
+
+    <xacro:macro name="prismatic_joint"
+                 params="jname parent child xyz rpy axis lower upper effort velocity">
+        <joint name="${jname}" type="prismatic">
+            <origin xyz="${xyz}" rpy="${rpy}"/>
+            <parent link="${parent}"/>
+            <child link="${child}"/>
+            <axis xyz="${axis}"/>
+            <limit lower="${lower}" upper="${upper}"
+                   effort="${effort}" velocity="${velocity}"/>
+            <dynamics damping="0.5" friction="0.1"/>
+        </joint>
+    </xacro:macro>
+
+    <xacro:macro name="mimic_revolute_joint"
+                 params="jname parent child xyz rpy axis
+                         lower upper effort velocity damping
+                         mimic_joint multiplier mimic_offset">
+        <joint name="${jname}" type="revolute">
+            <origin xyz="${xyz}" rpy="${rpy}"/>
+            <parent link="${parent}"/>
+            <child link="${child}"/>
+            <axis xyz="${axis}"/>
+            <limit lower="${lower}" upper="${upper}"
+                   effort="${effort}" velocity="${velocity}"/>
+            <dynamics damping="${damping}" friction="0.05"/>
+            <mimic joint="${mimic_joint}"
+                   multiplier="${multiplier}"
+                   offset="${mimic_offset}"/>
+        </joint>
+    </xacro:macro>
+
+</robot>
diff --git a/src/iiwa_description/urdf/gripper/gripper_meshes.xacro b/src/iiwa_description/urdf/gripper/gripper_meshes.xacro
new file mode 100644
index 0000000..2033b16
--- /dev/null
+++ b/src/iiwa_description/urdf/gripper/gripper_meshes.xacro
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" xacro:version="1.0">
+
+    <xacro:property name="gripper_pkg"
+                    value="package://iiwa_description/resource/meshes/gripper"/>
+
+    <xacro:property name="mesh_gripper_base_frame" value="${gripper_pkg}/base_frame.stl"/>
+    <xacro:property name="mesh_gripper_plate" value="${gripper_pkg}/plate.stl"/>
+    <xacro:property name="mesh_gripper_screw" value="${gripper_pkg}/screw.stl"/>
+    <xacro:property name="mesh_gripper_craving" value="${gripper_pkg}/craving.stl"/>
+    <xacro:property name="mesh_gripper_finger" value="${gripper_pkg}/finger_plates.stl"/>
+
+</robot>
\ No newline at end of file
diff --git a/src/iiwa_description/urdf/iiwa7.urdf.xacro b/src/iiwa_description/urdf/iiwa7_digital.urdf.xacro
similarity index 93%
rename from src/iiwa_description/urdf/iiwa7.urdf.xacro
rename to src/iiwa_description/urdf/iiwa7_digital.urdf.xacro
index fa45086..41654a3 100644
--- a/src/iiwa_description/urdf/iiwa7.urdf.xacro
+++ b/src/iiwa_description/urdf/iiwa7_digital.urdf.xacro
@@ -13,6 +13,8 @@
     <xacro:include filename="$(find iiwa_description)/urdf/links.xacro"/>
     <xacro:include filename="$(find iiwa_description)/urdf/joints.xacro"/>
 
+    <xacro:include filename="$(find iiwa_description)/urdf/gripper/gripper.xacro"/>
+
     <webots>
         <plugin type="webots_ros2_control::Ros2Control"/>
     </webots>
@@ -134,6 +136,15 @@
             <state_interface name="effort"/>
         </joint>
 
+        <!-- Захват -->
+        <!-- <joint name="base_screw">
+            <command_interface name="position"/>
+            <state_interface name="position">
+                <param name="initial_value">0.0</param>
+            </state_interface>
+            <state_interface name="velocity"/>
+        </joint> -->
+
     </ros2_control>
 
 
diff --git a/src/iiwa_description/urdf/iiwa7_fri.urdf.xacro b/src/iiwa_description/urdf/iiwa7_fri.urdf.xacro
index 11f0375..f9b8096 100644
--- a/src/iiwa_description/urdf/iiwa7_fri.urdf.xacro
+++ b/src/iiwa_description/urdf/iiwa7_fri.urdf.xacro
@@ -17,6 +17,7 @@
     <xacro:include filename="$(find iiwa_description)/urdf/macros.xacro"/>
     <xacro:include filename="$(find iiwa_description)/urdf/links.xacro"/>
     <xacro:include filename="$(find iiwa_description)/urdf/joints.xacro"/>
+    <xacro:include filename="$(find iiwa_description)/urdf/gripper/gripper.xacro"/>
 
     <ros2_control name="iiwaFRIControl" type="system">