diff --git a/rrrobot_ws/src/rrrobot/src/model_insertion_plugin.cpp b/rrrobot_ws/src/rrrobot/src/model_insertion_plugin.cpp
new file mode 100644
index 0000000..07b3768
--- /dev/null
+++ b/rrrobot_ws/src/rrrobot/src/model_insertion_plugin.cpp
@@ -0,0 +1,78 @@
+#include <ignition/math/Pose3.hh>
+#include "gazebo/physics/physics.hh"
+#include "gazebo/common/common.hh"
+#include "gazebo/gazebo.hh"
+
+#include "ros/ros.h"
+#include <std_msgs/String.h>
+#include "rrrobot/model_insertion.h"
+
+#include <string>
+#include <memory>
+#include <iostream>
+
+namespace gazebo
+{
+class ModelInsertion : public WorldPlugin
+{
+public:
+    void Load(physics::WorldPtr _parent, sdf::ElementPtr /*_sdf*/)
+    {
+        std::cout << "Loading model insertion plugin" << std::endl;
+
+        // Option 1: Insert model from file via function call.
+        // The filename must be in the GAZEBO_MODEL_PATH environment variable.
+        parent = _parent; //->InsertModelFile("model://box");
+
+        if (!ros::isInitialized())
+        {
+            int argc = 0;
+            char **argv = NULL;
+            ros::init(argc, argv, "arm");
+        }
+
+        nh.reset(new ros::NodeHandle());
+        subscriber = nh->subscribe("object_to_load", 1000, &ModelInsertion::insertModel, this);
+    }
+
+    void insertModel(const rrrobot::model_insertion &msg)
+    {
+        std::cout << "Received message to load model: " << msg.model_name << std::endl;
+
+        // Create a new transport node
+        transport::NodePtr node(new transport::Node());
+
+        // Initialize the node with the world name
+        node->Init(parent->Name());
+
+        // Create a publisher on the ~/factory topic
+        transport::PublisherPtr factoryPub =
+            node->Advertise<msgs::Factory>("~/factory");
+
+        // Create the message
+        msgs::Factory to_pub;
+
+        // Model file to load
+        to_pub.set_sdf_filename(std::string("model://") + msg.model_name);
+
+        // Pose to initialize the model to
+        msgs::Set(to_pub.mutable_pose(),
+                  ignition::math::Pose3d(
+                      ignition::math::Vector3d(msg.pose.position.x, msg.pose.position.y, msg.pose.position.z),
+                      ignition::math::Quaterniond(msg.pose.orientation.x, msg.pose.orientation.y, msg.pose.orientation.z, msg.pose.orientation.w)));
+
+        // Send the message
+        factoryPub->Publish(to_pub);
+
+        // parent->InsertModelFile(std::string("model://") + msg.data);
+    }
+
+private:
+    physics::WorldPtr parent;
+    std::unique_ptr<ros::NodeHandle> nh;
+    ros::Subscriber subscriber;
+};
+
+// Register this plugin with the simulator
+GZ_REGISTER_WORLD_PLUGIN(ModelInsertion)
+} // namespace gazebo
\ No newline at end of file