diff --git a/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt b/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt
index c2ff7dd..9cabfe0 100644
--- a/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt
+++ b/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt
@@ -32,8 +32,11 @@ set(msg_files
 
 set(srv_files
   "srv/AddTool.srv"
+  "srv/AddURDF.srv"
   "srv/AttachTool.srv"
+  "srv/AttachURDF.srv"
   "srv/DetachOrRemoveTool.srv"
+  "srv/DetachOrRemoveURDF.srv"
   "srv/ClearStoredParameters.srv"
   "srv/EditWaypoints.srv"
   "srv/GetAgentInfo.srv"
diff --git a/moveit_studio_msgs/moveit_studio_agent_msgs/srv/AddURDF.srv b/moveit_studio_msgs/moveit_studio_agent_msgs/srv/AddURDF.srv
new file mode 100644
index 0000000..c3dd779
--- /dev/null
+++ b/moveit_studio_msgs/moveit_studio_agent_msgs/srv/AddURDF.srv
@@ -0,0 +1,22 @@
+# Service to add URDF objects in the planning scene.
+# The URDF object is given as a URDF string, and is added to the planning scene at the specified pose.
+# Once the URDF object is added, its collision shapes will be updated in the planning scene according to the URDF joint values,
+# if those are published in /joint_states.
+
+# The name of the URDF object to add to the planning scene.
+# It must not be in the planning scene already, otherwise an error will be returned.
+string urdf_name
+
+# The URDF string.
+string urdf_string
+
+# The pose at which the URDF object will be added.
+# Use a pose stamped so we can define the frame relative to which the URDF object will be added.
+geometry_msgs/PoseStamped urdf_pose
+
+---
+# 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/AttachURDF.srv b/moveit_studio_msgs/moveit_studio_agent_msgs/srv/AttachURDF.srv
new file mode 100644
index 0000000..0938ab1
--- /dev/null
+++ b/moveit_studio_msgs/moveit_studio_agent_msgs/srv/AttachURDF.srv
@@ -0,0 +1,23 @@
+# Service to attach articulated URDF objects to the robot.
+# The URDF object given must already exist in the planning scene, and is attached to a specific link on the robot at the
+# current transform between the link and the URDF object.
+# Once the URDF object is attached, its collision shapes will be updated in the planning scene according to the URDF
+# joint values, if those are published in /joint_states.
+
+# The name of the URDF object to attach.
+# It must not be attached already, otherwise an error will be returned.
+string urdf_name
+
+# 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
+
+# Robot links this URDF object 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/DetachOrRemoveURDF.srv b/moveit_studio_msgs/moveit_studio_agent_msgs/srv/DetachOrRemoveURDF.srv
new file mode 100644
index 0000000..ca2ac40
--- /dev/null
+++ b/moveit_studio_msgs/moveit_studio_agent_msgs/srv/DetachOrRemoveURDF.srv
@@ -0,0 +1,15 @@
+# Service to detach URDF objects from the robot or remove them from the scene.
+
+# The name of the URDF object to detach or remove.
+# If using this srv with the 'detach_urdf' service, the URDF object must have been
+# attached to the robot previously.
+# If using this srv with the 'remove_urdf_from_scene', the URDF object must have been
+# added to the scene previously.
+string urdf_name
+
+---
+# If the operation was successful.
+bool success
+
+# If the operation was not successful, a message describing the error.
+string message