diff --git a/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt b/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt
index 3591872..3e14d6e 100644
--- a/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt
+++ b/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt
@@ -29,6 +29,8 @@ set(msg_files
 )
 
 set(srv_files
+  "srv/AttachTool.srv"
+  "srv/DetachTool.srv"
   "srv/ClearStoredParameters.srv"
   "srv/EditWaypoints.srv"
   "srv/GetAgentInfo.srv"
diff --git a/moveit_studio_msgs/moveit_studio_agent_msgs/srv/AttachTool.srv b/moveit_studio_msgs/moveit_studio_agent_msgs/srv/AttachTool.srv
new file mode 100644
index 0000000..99d32a7
--- /dev/null
+++ b/moveit_studio_msgs/moveit_studio_agent_msgs/srv/AttachTool.srv
@@ -0,0 +1,28 @@
+# Service to attach articulated tools to the robot.
+# The tool is given as a URDF string, and is attached to a specific link on the robot with a relative pose.
+# Once the tool is attached, its collision shapes will be updated in the planning scene according to the tool
+# joint values, if those are published in /joint_states.
+
+# The name of the tool to attach.
+# It must not be attached already, otherwise an error will be returned.
+string tool_name
+
+# The tool URDF.
+string tool_urdf
+
+# The name of the robot link to attach to.
+# It must exist in the robot URDF, otherwise an error will be returned.
+string parent_link_name
+
+# The relative transform of the tool with respect to the parent link.
+geometry_msgs/Transform tool_pose
+
+# Robot links this tool is allowed to collide with.
+string[] allowed_collision_links
+
+---
+# If the operation was successful.
+bool success
+
+# If the operation was not successful, a message describing the error.
+string message
diff --git a/moveit_studio_msgs/moveit_studio_agent_msgs/srv/DetachTool.srv b/moveit_studio_msgs/moveit_studio_agent_msgs/srv/DetachTool.srv
new file mode 100644
index 0000000..191aa00
--- /dev/null
+++ b/moveit_studio_msgs/moveit_studio_agent_msgs/srv/DetachTool.srv
@@ -0,0 +1,12 @@
+# Service to detach tools from the robot.
+
+# The name of the tool to detach.
+# It must have been attached previously. Otherwise an error will be returned.
+string tool_name
+
+---
+# If the operation was successful.
+bool success
+
+# If the operation was not successful, a message describing the error.
+string message