diff --git a/stretch_description/meshes/guthrie/base_link.STL b/stretch_description/batch/guthrie/meshes/base_link.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/base_link.STL
rename to stretch_description/batch/guthrie/meshes/base_link.STL
diff --git a/stretch_description/meshes/guthrie/laser.STL b/stretch_description/batch/guthrie/meshes/laser.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/laser.STL
rename to stretch_description/batch/guthrie/meshes/laser.STL
diff --git a/stretch_description/meshes/guthrie/link_arm_l0.STL b/stretch_description/batch/guthrie/meshes/link_arm_l0.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_arm_l0.STL
rename to stretch_description/batch/guthrie/meshes/link_arm_l0.STL
diff --git a/stretch_description/meshes/guthrie/link_arm_l1.STL b/stretch_description/batch/guthrie/meshes/link_arm_l1.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_arm_l1.STL
rename to stretch_description/batch/guthrie/meshes/link_arm_l1.STL
diff --git a/stretch_description/meshes/guthrie/link_arm_l2.STL b/stretch_description/batch/guthrie/meshes/link_arm_l2.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_arm_l2.STL
rename to stretch_description/batch/guthrie/meshes/link_arm_l2.STL
diff --git a/stretch_description/meshes/guthrie/link_arm_l3.STL b/stretch_description/batch/guthrie/meshes/link_arm_l3.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_arm_l3.STL
rename to stretch_description/batch/guthrie/meshes/link_arm_l3.STL
diff --git a/stretch_description/meshes/guthrie/link_arm_l4.STL b/stretch_description/batch/guthrie/meshes/link_arm_l4.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_arm_l4.STL
rename to stretch_description/batch/guthrie/meshes/link_arm_l4.STL
diff --git a/stretch_description/meshes/guthrie/link_aruco_inner_wrist.STL b/stretch_description/batch/guthrie/meshes/link_aruco_inner_wrist.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_aruco_inner_wrist.STL
rename to stretch_description/batch/guthrie/meshes/link_aruco_inner_wrist.STL
diff --git a/stretch_description/meshes/guthrie/link_aruco_left_base.STL b/stretch_description/batch/guthrie/meshes/link_aruco_left_base.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_aruco_left_base.STL
rename to stretch_description/batch/guthrie/meshes/link_aruco_left_base.STL
diff --git a/stretch_description/meshes/guthrie/link_aruco_right_base.STL b/stretch_description/batch/guthrie/meshes/link_aruco_right_base.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_aruco_right_base.STL
rename to stretch_description/batch/guthrie/meshes/link_aruco_right_base.STL
diff --git a/stretch_description/meshes/guthrie/link_aruco_shoulder.STL b/stretch_description/batch/guthrie/meshes/link_aruco_shoulder.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_aruco_shoulder.STL
rename to stretch_description/batch/guthrie/meshes/link_aruco_shoulder.STL
diff --git a/stretch_description/meshes/guthrie/link_aruco_top_wrist.STL b/stretch_description/batch/guthrie/meshes/link_aruco_top_wrist.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_aruco_top_wrist.STL
rename to stretch_description/batch/guthrie/meshes/link_aruco_top_wrist.STL
diff --git a/stretch_description/meshes/guthrie/link_dry_erase_holder.STL b/stretch_description/batch/guthrie/meshes/link_dry_erase_holder.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_dry_erase_holder.STL
rename to stretch_description/batch/guthrie/meshes/link_dry_erase_holder.STL
diff --git a/stretch_description/meshes/guthrie/link_dry_erase_marker.STL b/stretch_description/batch/guthrie/meshes/link_dry_erase_marker.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_dry_erase_marker.STL
rename to stretch_description/batch/guthrie/meshes/link_dry_erase_marker.STL
diff --git a/stretch_description/meshes/guthrie/link_gripper.STL b/stretch_description/batch/guthrie/meshes/link_gripper.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_gripper.STL
rename to stretch_description/batch/guthrie/meshes/link_gripper.STL
diff --git a/stretch_description/meshes/guthrie/link_gripper_finger_left.STL b/stretch_description/batch/guthrie/meshes/link_gripper_finger_left.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_gripper_finger_left.STL
rename to stretch_description/batch/guthrie/meshes/link_gripper_finger_left.STL
diff --git a/stretch_description/meshes/guthrie/link_gripper_finger_right.STL b/stretch_description/batch/guthrie/meshes/link_gripper_finger_right.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_gripper_finger_right.STL
rename to stretch_description/batch/guthrie/meshes/link_gripper_finger_right.STL
diff --git a/stretch_description/meshes/guthrie/link_gripper_fingertip_left.STL b/stretch_description/batch/guthrie/meshes/link_gripper_fingertip_left.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_gripper_fingertip_left.STL
rename to stretch_description/batch/guthrie/meshes/link_gripper_fingertip_left.STL
diff --git a/stretch_description/meshes/guthrie/link_gripper_fingertip_right.STL b/stretch_description/batch/guthrie/meshes/link_gripper_fingertip_right.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_gripper_fingertip_right.STL
rename to stretch_description/batch/guthrie/meshes/link_gripper_fingertip_right.STL
diff --git a/stretch_description/meshes/guthrie/link_head.STL b/stretch_description/batch/guthrie/meshes/link_head.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_head.STL
rename to stretch_description/batch/guthrie/meshes/link_head.STL
diff --git a/stretch_description/meshes/guthrie/link_head_pan.STL b/stretch_description/batch/guthrie/meshes/link_head_pan.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_head_pan.STL
rename to stretch_description/batch/guthrie/meshes/link_head_pan.STL
diff --git a/stretch_description/meshes/guthrie/link_head_tilt.STL b/stretch_description/batch/guthrie/meshes/link_head_tilt.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_head_tilt.STL
rename to stretch_description/batch/guthrie/meshes/link_head_tilt.STL
diff --git a/stretch_description/meshes/guthrie/link_left_wheel.STL b/stretch_description/batch/guthrie/meshes/link_left_wheel.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_left_wheel.STL
rename to stretch_description/batch/guthrie/meshes/link_left_wheel.STL
diff --git a/stretch_description/meshes/guthrie/link_lift.STL b/stretch_description/batch/guthrie/meshes/link_lift.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_lift.STL
rename to stretch_description/batch/guthrie/meshes/link_lift.STL
diff --git a/stretch_description/meshes/guthrie/link_mast.STL b/stretch_description/batch/guthrie/meshes/link_mast.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_mast.STL
rename to stretch_description/batch/guthrie/meshes/link_mast.STL
diff --git a/stretch_description/meshes/guthrie/link_puller.STL b/stretch_description/batch/guthrie/meshes/link_puller.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_puller.STL
rename to stretch_description/batch/guthrie/meshes/link_puller.STL
diff --git a/stretch_description/meshes/guthrie/link_respeaker.STL b/stretch_description/batch/guthrie/meshes/link_respeaker.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_respeaker.STL
rename to stretch_description/batch/guthrie/meshes/link_respeaker.STL
diff --git a/stretch_description/meshes/guthrie/link_right_wheel.STL b/stretch_description/batch/guthrie/meshes/link_right_wheel.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_right_wheel.STL
rename to stretch_description/batch/guthrie/meshes/link_right_wheel.STL
diff --git a/stretch_description/meshes/guthrie/link_wrist_yaw.STL b/stretch_description/batch/guthrie/meshes/link_wrist_yaw.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/link_wrist_yaw.STL
rename to stretch_description/batch/guthrie/meshes/link_wrist_yaw.STL
diff --git a/stretch_description/meshes/guthrie/omni_wheel_m.STL b/stretch_description/batch/guthrie/meshes/omni_wheel_m.STL
similarity index 100%
rename from stretch_description/meshes/guthrie/omni_wheel_m.STL
rename to stretch_description/batch/guthrie/meshes/omni_wheel_m.STL
diff --git a/stretch_description/batch/guthrie/urdf/stretch_aruco.xacro b/stretch_description/batch/guthrie/urdf/stretch_aruco.xacro
new file mode 100644
index 0000000..8902d2a
--- /dev/null
+++ b/stretch_description/batch/guthrie/urdf/stretch_aruco.xacro
@@ -0,0 +1,283 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/guthrie/urdf/stretch_d435i.xacro b/stretch_description/batch/guthrie/urdf/stretch_d435i.xacro
new file mode 100644
index 0000000..ea8d71c
--- /dev/null
+++ b/stretch_description/batch/guthrie/urdf/stretch_d435i.xacro
@@ -0,0 +1,22 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/guthrie/urdf/stretch_description.xacro b/stretch_description/batch/guthrie/urdf/stretch_description.xacro
new file mode 100644
index 0000000..800a7a1
--- /dev/null
+++ b/stretch_description/batch/guthrie/urdf/stretch_description.xacro
@@ -0,0 +1,17 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/guthrie/urdf/stretch_dry_erase_marker.xacro b/stretch_description/batch/guthrie/urdf/stretch_dry_erase_marker.xacro
new file mode 100644
index 0000000..de1e234
--- /dev/null
+++ b/stretch_description/batch/guthrie/urdf/stretch_dry_erase_marker.xacro
@@ -0,0 +1,133 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/guthrie/urdf/stretch_gripper.xacro b/stretch_description/batch/guthrie/urdf/stretch_gripper.xacro
new file mode 100644
index 0000000..03acc68
--- /dev/null
+++ b/stretch_description/batch/guthrie/urdf/stretch_gripper.xacro
@@ -0,0 +1,302 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/guthrie/urdf/stretch_gripper_with_puller.xacro b/stretch_description/batch/guthrie/urdf/stretch_gripper_with_puller.xacro
new file mode 100644
index 0000000..c3e9ecf
--- /dev/null
+++ b/stretch_description/batch/guthrie/urdf/stretch_gripper_with_puller.xacro
@@ -0,0 +1,359 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/guthrie/urdf/stretch_laser_range_finder.xacro b/stretch_description/batch/guthrie/urdf/stretch_laser_range_finder.xacro
new file mode 100644
index 0000000..3632a66
--- /dev/null
+++ b/stretch_description/batch/guthrie/urdf/stretch_laser_range_finder.xacro
@@ -0,0 +1,59 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/guthrie/urdf/stretch_main.xacro b/stretch_description/batch/guthrie/urdf/stretch_main.xacro
new file mode 100644
index 0000000..6309cde
--- /dev/null
+++ b/stretch_description/batch/guthrie/urdf/stretch_main.xacro
@@ -0,0 +1,841 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 1.0
+ 1.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/guthrie/urdf/stretch_respeaker.xacro b/stretch_description/batch/guthrie/urdf/stretch_respeaker.xacro
new file mode 100644
index 0000000..428b84f
--- /dev/null
+++ b/stretch_description/batch/guthrie/urdf/stretch_respeaker.xacro
@@ -0,0 +1,62 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/meshes/hank/base_link.STL b/stretch_description/batch/hank/meshes/base_link.STL
similarity index 100%
rename from stretch_description/meshes/hank/base_link.STL
rename to stretch_description/batch/hank/meshes/base_link.STL
diff --git a/stretch_description/meshes/hank/laser.STL b/stretch_description/batch/hank/meshes/laser.STL
similarity index 100%
rename from stretch_description/meshes/hank/laser.STL
rename to stretch_description/batch/hank/meshes/laser.STL
diff --git a/stretch_description/meshes/hank/link_arm_l0.STL b/stretch_description/batch/hank/meshes/link_arm_l0.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_arm_l0.STL
rename to stretch_description/batch/hank/meshes/link_arm_l0.STL
diff --git a/stretch_description/meshes/hank/link_arm_l1.STL b/stretch_description/batch/hank/meshes/link_arm_l1.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_arm_l1.STL
rename to stretch_description/batch/hank/meshes/link_arm_l1.STL
diff --git a/stretch_description/meshes/hank/link_arm_l2.STL b/stretch_description/batch/hank/meshes/link_arm_l2.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_arm_l2.STL
rename to stretch_description/batch/hank/meshes/link_arm_l2.STL
diff --git a/stretch_description/meshes/hank/link_arm_l3.STL b/stretch_description/batch/hank/meshes/link_arm_l3.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_arm_l3.STL
rename to stretch_description/batch/hank/meshes/link_arm_l3.STL
diff --git a/stretch_description/meshes/hank/link_arm_l4.STL b/stretch_description/batch/hank/meshes/link_arm_l4.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_arm_l4.STL
rename to stretch_description/batch/hank/meshes/link_arm_l4.STL
diff --git a/stretch_description/meshes/hank/link_aruco_inner_wrist.STL b/stretch_description/batch/hank/meshes/link_aruco_inner_wrist.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_aruco_inner_wrist.STL
rename to stretch_description/batch/hank/meshes/link_aruco_inner_wrist.STL
diff --git a/stretch_description/meshes/hank/link_aruco_left_base.STL b/stretch_description/batch/hank/meshes/link_aruco_left_base.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_aruco_left_base.STL
rename to stretch_description/batch/hank/meshes/link_aruco_left_base.STL
diff --git a/stretch_description/meshes/hank/link_aruco_right_base.STL b/stretch_description/batch/hank/meshes/link_aruco_right_base.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_aruco_right_base.STL
rename to stretch_description/batch/hank/meshes/link_aruco_right_base.STL
diff --git a/stretch_description/meshes/hank/link_aruco_shoulder.STL b/stretch_description/batch/hank/meshes/link_aruco_shoulder.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_aruco_shoulder.STL
rename to stretch_description/batch/hank/meshes/link_aruco_shoulder.STL
diff --git a/stretch_description/meshes/hank/link_aruco_top_wrist.STL b/stretch_description/batch/hank/meshes/link_aruco_top_wrist.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_aruco_top_wrist.STL
rename to stretch_description/batch/hank/meshes/link_aruco_top_wrist.STL
diff --git a/stretch_description/meshes/hank/link_dry_erase_holder.STL b/stretch_description/batch/hank/meshes/link_dry_erase_holder.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_dry_erase_holder.STL
rename to stretch_description/batch/hank/meshes/link_dry_erase_holder.STL
diff --git a/stretch_description/meshes/hank/link_dry_erase_marker.STL b/stretch_description/batch/hank/meshes/link_dry_erase_marker.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_dry_erase_marker.STL
rename to stretch_description/batch/hank/meshes/link_dry_erase_marker.STL
diff --git a/stretch_description/meshes/hank/link_gripper.STL b/stretch_description/batch/hank/meshes/link_gripper.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_gripper.STL
rename to stretch_description/batch/hank/meshes/link_gripper.STL
diff --git a/stretch_description/meshes/hank/link_gripper_finger_left.STL b/stretch_description/batch/hank/meshes/link_gripper_finger_left.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_gripper_finger_left.STL
rename to stretch_description/batch/hank/meshes/link_gripper_finger_left.STL
diff --git a/stretch_description/meshes/hank/link_gripper_finger_right.STL b/stretch_description/batch/hank/meshes/link_gripper_finger_right.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_gripper_finger_right.STL
rename to stretch_description/batch/hank/meshes/link_gripper_finger_right.STL
diff --git a/stretch_description/meshes/hank/link_gripper_fingertip_left.STL b/stretch_description/batch/hank/meshes/link_gripper_fingertip_left.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_gripper_fingertip_left.STL
rename to stretch_description/batch/hank/meshes/link_gripper_fingertip_left.STL
diff --git a/stretch_description/meshes/hank/link_gripper_fingertip_right.STL b/stretch_description/batch/hank/meshes/link_gripper_fingertip_right.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_gripper_fingertip_right.STL
rename to stretch_description/batch/hank/meshes/link_gripper_fingertip_right.STL
diff --git a/stretch_description/meshes/hank/link_head.STL b/stretch_description/batch/hank/meshes/link_head.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_head.STL
rename to stretch_description/batch/hank/meshes/link_head.STL
diff --git a/stretch_description/meshes/hank/link_head_pan.STL b/stretch_description/batch/hank/meshes/link_head_pan.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_head_pan.STL
rename to stretch_description/batch/hank/meshes/link_head_pan.STL
diff --git a/stretch_description/meshes/hank/link_head_tilt.STL b/stretch_description/batch/hank/meshes/link_head_tilt.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_head_tilt.STL
rename to stretch_description/batch/hank/meshes/link_head_tilt.STL
diff --git a/stretch_description/meshes/hank/link_left_wheel.STL b/stretch_description/batch/hank/meshes/link_left_wheel.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_left_wheel.STL
rename to stretch_description/batch/hank/meshes/link_left_wheel.STL
diff --git a/stretch_description/meshes/hank/link_lift.STL b/stretch_description/batch/hank/meshes/link_lift.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_lift.STL
rename to stretch_description/batch/hank/meshes/link_lift.STL
diff --git a/stretch_description/meshes/hank/link_mast.STL b/stretch_description/batch/hank/meshes/link_mast.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_mast.STL
rename to stretch_description/batch/hank/meshes/link_mast.STL
diff --git a/stretch_description/meshes/hank/link_puller.STL b/stretch_description/batch/hank/meshes/link_puller.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_puller.STL
rename to stretch_description/batch/hank/meshes/link_puller.STL
diff --git a/stretch_description/meshes/hank/link_respeaker.STL b/stretch_description/batch/hank/meshes/link_respeaker.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_respeaker.STL
rename to stretch_description/batch/hank/meshes/link_respeaker.STL
diff --git a/stretch_description/meshes/hank/link_right_wheel.STL b/stretch_description/batch/hank/meshes/link_right_wheel.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_right_wheel.STL
rename to stretch_description/batch/hank/meshes/link_right_wheel.STL
diff --git a/stretch_description/meshes/hank/link_wrist_yaw.STL b/stretch_description/batch/hank/meshes/link_wrist_yaw.STL
similarity index 100%
rename from stretch_description/meshes/hank/link_wrist_yaw.STL
rename to stretch_description/batch/hank/meshes/link_wrist_yaw.STL
diff --git a/stretch_description/meshes/hank/omni_wheel_m.STL b/stretch_description/batch/hank/meshes/omni_wheel_m.STL
similarity index 100%
rename from stretch_description/meshes/hank/omni_wheel_m.STL
rename to stretch_description/batch/hank/meshes/omni_wheel_m.STL
diff --git a/stretch_description/batch/hank/urdf/stretch_aruco.xacro b/stretch_description/batch/hank/urdf/stretch_aruco.xacro
new file mode 100644
index 0000000..8902d2a
--- /dev/null
+++ b/stretch_description/batch/hank/urdf/stretch_aruco.xacro
@@ -0,0 +1,283 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/hank/urdf/stretch_d435i.xacro b/stretch_description/batch/hank/urdf/stretch_d435i.xacro
new file mode 100644
index 0000000..ea8d71c
--- /dev/null
+++ b/stretch_description/batch/hank/urdf/stretch_d435i.xacro
@@ -0,0 +1,22 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/hank/urdf/stretch_description.xacro b/stretch_description/batch/hank/urdf/stretch_description.xacro
new file mode 100644
index 0000000..800a7a1
--- /dev/null
+++ b/stretch_description/batch/hank/urdf/stretch_description.xacro
@@ -0,0 +1,17 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/hank/urdf/stretch_dry_erase_marker.xacro b/stretch_description/batch/hank/urdf/stretch_dry_erase_marker.xacro
new file mode 100644
index 0000000..de1e234
--- /dev/null
+++ b/stretch_description/batch/hank/urdf/stretch_dry_erase_marker.xacro
@@ -0,0 +1,133 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/hank/urdf/stretch_gripper.xacro b/stretch_description/batch/hank/urdf/stretch_gripper.xacro
new file mode 100644
index 0000000..03acc68
--- /dev/null
+++ b/stretch_description/batch/hank/urdf/stretch_gripper.xacro
@@ -0,0 +1,302 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/hank/urdf/stretch_gripper_with_puller.xacro b/stretch_description/batch/hank/urdf/stretch_gripper_with_puller.xacro
new file mode 100644
index 0000000..c3e9ecf
--- /dev/null
+++ b/stretch_description/batch/hank/urdf/stretch_gripper_with_puller.xacro
@@ -0,0 +1,359 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/hank/urdf/stretch_laser_range_finder.xacro b/stretch_description/batch/hank/urdf/stretch_laser_range_finder.xacro
new file mode 100644
index 0000000..3632a66
--- /dev/null
+++ b/stretch_description/batch/hank/urdf/stretch_laser_range_finder.xacro
@@ -0,0 +1,59 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/hank/urdf/stretch_main.xacro b/stretch_description/batch/hank/urdf/stretch_main.xacro
new file mode 100644
index 0000000..6309cde
--- /dev/null
+++ b/stretch_description/batch/hank/urdf/stretch_main.xacro
@@ -0,0 +1,841 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 1.0
+ 1.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/hank/urdf/stretch_respeaker.xacro b/stretch_description/batch/hank/urdf/stretch_respeaker.xacro
new file mode 100644
index 0000000..428b84f
--- /dev/null
+++ b/stretch_description/batch/hank/urdf/stretch_respeaker.xacro
@@ -0,0 +1,62 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/meshes/irma/base_link.STL b/stretch_description/batch/irma/meshes/base_link.STL
similarity index 100%
rename from stretch_description/meshes/irma/base_link.STL
rename to stretch_description/batch/irma/meshes/base_link.STL
diff --git a/stretch_description/meshes/irma/laser.STL b/stretch_description/batch/irma/meshes/laser.STL
similarity index 100%
rename from stretch_description/meshes/irma/laser.STL
rename to stretch_description/batch/irma/meshes/laser.STL
diff --git a/stretch_description/meshes/irma/link_arm_l0.STL b/stretch_description/batch/irma/meshes/link_arm_l0.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_arm_l0.STL
rename to stretch_description/batch/irma/meshes/link_arm_l0.STL
diff --git a/stretch_description/meshes/irma/link_arm_l1.STL b/stretch_description/batch/irma/meshes/link_arm_l1.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_arm_l1.STL
rename to stretch_description/batch/irma/meshes/link_arm_l1.STL
diff --git a/stretch_description/meshes/irma/link_arm_l2.STL b/stretch_description/batch/irma/meshes/link_arm_l2.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_arm_l2.STL
rename to stretch_description/batch/irma/meshes/link_arm_l2.STL
diff --git a/stretch_description/meshes/irma/link_arm_l3.STL b/stretch_description/batch/irma/meshes/link_arm_l3.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_arm_l3.STL
rename to stretch_description/batch/irma/meshes/link_arm_l3.STL
diff --git a/stretch_description/meshes/irma/link_arm_l4.STL b/stretch_description/batch/irma/meshes/link_arm_l4.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_arm_l4.STL
rename to stretch_description/batch/irma/meshes/link_arm_l4.STL
diff --git a/stretch_description/meshes/irma/link_aruco_inner_wrist.STL b/stretch_description/batch/irma/meshes/link_aruco_inner_wrist.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_aruco_inner_wrist.STL
rename to stretch_description/batch/irma/meshes/link_aruco_inner_wrist.STL
diff --git a/stretch_description/meshes/irma/link_aruco_left_base.STL b/stretch_description/batch/irma/meshes/link_aruco_left_base.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_aruco_left_base.STL
rename to stretch_description/batch/irma/meshes/link_aruco_left_base.STL
diff --git a/stretch_description/meshes/irma/link_aruco_right_base.STL b/stretch_description/batch/irma/meshes/link_aruco_right_base.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_aruco_right_base.STL
rename to stretch_description/batch/irma/meshes/link_aruco_right_base.STL
diff --git a/stretch_description/meshes/irma/link_aruco_shoulder.STL b/stretch_description/batch/irma/meshes/link_aruco_shoulder.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_aruco_shoulder.STL
rename to stretch_description/batch/irma/meshes/link_aruco_shoulder.STL
diff --git a/stretch_description/meshes/irma/link_aruco_top_wrist.STL b/stretch_description/batch/irma/meshes/link_aruco_top_wrist.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_aruco_top_wrist.STL
rename to stretch_description/batch/irma/meshes/link_aruco_top_wrist.STL
diff --git a/stretch_description/meshes/irma/link_dry_erase_holder.STL b/stretch_description/batch/irma/meshes/link_dry_erase_holder.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_dry_erase_holder.STL
rename to stretch_description/batch/irma/meshes/link_dry_erase_holder.STL
diff --git a/stretch_description/meshes/irma/link_dry_erase_marker.STL b/stretch_description/batch/irma/meshes/link_dry_erase_marker.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_dry_erase_marker.STL
rename to stretch_description/batch/irma/meshes/link_dry_erase_marker.STL
diff --git a/stretch_description/meshes/irma/link_gripper.STL b/stretch_description/batch/irma/meshes/link_gripper.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_gripper.STL
rename to stretch_description/batch/irma/meshes/link_gripper.STL
diff --git a/stretch_description/meshes/irma/link_gripper_finger_left.STL b/stretch_description/batch/irma/meshes/link_gripper_finger_left.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_gripper_finger_left.STL
rename to stretch_description/batch/irma/meshes/link_gripper_finger_left.STL
diff --git a/stretch_description/meshes/irma/link_gripper_finger_right.STL b/stretch_description/batch/irma/meshes/link_gripper_finger_right.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_gripper_finger_right.STL
rename to stretch_description/batch/irma/meshes/link_gripper_finger_right.STL
diff --git a/stretch_description/meshes/irma/link_gripper_fingertip_left.STL b/stretch_description/batch/irma/meshes/link_gripper_fingertip_left.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_gripper_fingertip_left.STL
rename to stretch_description/batch/irma/meshes/link_gripper_fingertip_left.STL
diff --git a/stretch_description/meshes/irma/link_gripper_fingertip_right.STL b/stretch_description/batch/irma/meshes/link_gripper_fingertip_right.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_gripper_fingertip_right.STL
rename to stretch_description/batch/irma/meshes/link_gripper_fingertip_right.STL
diff --git a/stretch_description/meshes/irma/link_head.STL b/stretch_description/batch/irma/meshes/link_head.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_head.STL
rename to stretch_description/batch/irma/meshes/link_head.STL
diff --git a/stretch_description/meshes/irma/link_head_pan.STL b/stretch_description/batch/irma/meshes/link_head_pan.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_head_pan.STL
rename to stretch_description/batch/irma/meshes/link_head_pan.STL
diff --git a/stretch_description/meshes/irma/link_head_tilt.STL b/stretch_description/batch/irma/meshes/link_head_tilt.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_head_tilt.STL
rename to stretch_description/batch/irma/meshes/link_head_tilt.STL
diff --git a/stretch_description/meshes/irma/link_left_wheel.STL b/stretch_description/batch/irma/meshes/link_left_wheel.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_left_wheel.STL
rename to stretch_description/batch/irma/meshes/link_left_wheel.STL
diff --git a/stretch_description/meshes/irma/link_lift.STL b/stretch_description/batch/irma/meshes/link_lift.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_lift.STL
rename to stretch_description/batch/irma/meshes/link_lift.STL
diff --git a/stretch_description/meshes/irma/link_mast.STL b/stretch_description/batch/irma/meshes/link_mast.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_mast.STL
rename to stretch_description/batch/irma/meshes/link_mast.STL
diff --git a/stretch_description/meshes/irma/link_puller.STL b/stretch_description/batch/irma/meshes/link_puller.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_puller.STL
rename to stretch_description/batch/irma/meshes/link_puller.STL
diff --git a/stretch_description/meshes/irma/link_respeaker.STL b/stretch_description/batch/irma/meshes/link_respeaker.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_respeaker.STL
rename to stretch_description/batch/irma/meshes/link_respeaker.STL
diff --git a/stretch_description/meshes/irma/link_right_wheel.STL b/stretch_description/batch/irma/meshes/link_right_wheel.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_right_wheel.STL
rename to stretch_description/batch/irma/meshes/link_right_wheel.STL
diff --git a/stretch_description/meshes/irma/link_wrist_yaw.STL b/stretch_description/batch/irma/meshes/link_wrist_yaw.STL
similarity index 100%
rename from stretch_description/meshes/irma/link_wrist_yaw.STL
rename to stretch_description/batch/irma/meshes/link_wrist_yaw.STL
diff --git a/stretch_description/meshes/irma/omni_wheel_m.STL b/stretch_description/batch/irma/meshes/omni_wheel_m.STL
similarity index 100%
rename from stretch_description/meshes/irma/omni_wheel_m.STL
rename to stretch_description/batch/irma/meshes/omni_wheel_m.STL
diff --git a/stretch_description/batch/irma/urdf/stretch_aruco.xacro b/stretch_description/batch/irma/urdf/stretch_aruco.xacro
new file mode 100644
index 0000000..8902d2a
--- /dev/null
+++ b/stretch_description/batch/irma/urdf/stretch_aruco.xacro
@@ -0,0 +1,283 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/irma/urdf/stretch_d435i.xacro b/stretch_description/batch/irma/urdf/stretch_d435i.xacro
new file mode 100644
index 0000000..ea8d71c
--- /dev/null
+++ b/stretch_description/batch/irma/urdf/stretch_d435i.xacro
@@ -0,0 +1,22 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/irma/urdf/stretch_description.xacro b/stretch_description/batch/irma/urdf/stretch_description.xacro
new file mode 100644
index 0000000..800a7a1
--- /dev/null
+++ b/stretch_description/batch/irma/urdf/stretch_description.xacro
@@ -0,0 +1,17 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/irma/urdf/stretch_dry_erase_marker.xacro b/stretch_description/batch/irma/urdf/stretch_dry_erase_marker.xacro
new file mode 100644
index 0000000..de1e234
--- /dev/null
+++ b/stretch_description/batch/irma/urdf/stretch_dry_erase_marker.xacro
@@ -0,0 +1,133 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/irma/urdf/stretch_gripper.xacro b/stretch_description/batch/irma/urdf/stretch_gripper.xacro
new file mode 100644
index 0000000..03acc68
--- /dev/null
+++ b/stretch_description/batch/irma/urdf/stretch_gripper.xacro
@@ -0,0 +1,302 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/irma/urdf/stretch_gripper_with_puller.xacro b/stretch_description/batch/irma/urdf/stretch_gripper_with_puller.xacro
new file mode 100644
index 0000000..c3e9ecf
--- /dev/null
+++ b/stretch_description/batch/irma/urdf/stretch_gripper_with_puller.xacro
@@ -0,0 +1,359 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/irma/urdf/stretch_laser_range_finder.xacro b/stretch_description/batch/irma/urdf/stretch_laser_range_finder.xacro
new file mode 100644
index 0000000..3632a66
--- /dev/null
+++ b/stretch_description/batch/irma/urdf/stretch_laser_range_finder.xacro
@@ -0,0 +1,59 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/irma/urdf/stretch_main.xacro b/stretch_description/batch/irma/urdf/stretch_main.xacro
new file mode 100644
index 0000000..6309cde
--- /dev/null
+++ b/stretch_description/batch/irma/urdf/stretch_main.xacro
@@ -0,0 +1,841 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 1.0
+ 1.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/irma/urdf/stretch_respeaker.xacro b/stretch_description/batch/irma/urdf/stretch_respeaker.xacro
new file mode 100644
index 0000000..428b84f
--- /dev/null
+++ b/stretch_description/batch/irma/urdf/stretch_respeaker.xacro
@@ -0,0 +1,62 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/meshes/joplin/base_link.STL b/stretch_description/batch/joplin/meshes/base_link.STL
similarity index 100%
rename from stretch_description/meshes/joplin/base_link.STL
rename to stretch_description/batch/joplin/meshes/base_link.STL
diff --git a/stretch_description/meshes/joplin/laser.STL b/stretch_description/batch/joplin/meshes/laser.STL
similarity index 100%
rename from stretch_description/meshes/joplin/laser.STL
rename to stretch_description/batch/joplin/meshes/laser.STL
diff --git a/stretch_description/meshes/joplin/link_arm_l0.STL b/stretch_description/batch/joplin/meshes/link_arm_l0.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_arm_l0.STL
rename to stretch_description/batch/joplin/meshes/link_arm_l0.STL
diff --git a/stretch_description/meshes/joplin/link_arm_l1.STL b/stretch_description/batch/joplin/meshes/link_arm_l1.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_arm_l1.STL
rename to stretch_description/batch/joplin/meshes/link_arm_l1.STL
diff --git a/stretch_description/meshes/joplin/link_arm_l2.STL b/stretch_description/batch/joplin/meshes/link_arm_l2.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_arm_l2.STL
rename to stretch_description/batch/joplin/meshes/link_arm_l2.STL
diff --git a/stretch_description/meshes/joplin/link_arm_l3.STL b/stretch_description/batch/joplin/meshes/link_arm_l3.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_arm_l3.STL
rename to stretch_description/batch/joplin/meshes/link_arm_l3.STL
diff --git a/stretch_description/meshes/joplin/link_arm_l4.STL b/stretch_description/batch/joplin/meshes/link_arm_l4.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_arm_l4.STL
rename to stretch_description/batch/joplin/meshes/link_arm_l4.STL
diff --git a/stretch_description/meshes/joplin/link_aruco_inner_wrist.STL b/stretch_description/batch/joplin/meshes/link_aruco_inner_wrist.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_aruco_inner_wrist.STL
rename to stretch_description/batch/joplin/meshes/link_aruco_inner_wrist.STL
diff --git a/stretch_description/meshes/joplin/link_aruco_left_base.STL b/stretch_description/batch/joplin/meshes/link_aruco_left_base.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_aruco_left_base.STL
rename to stretch_description/batch/joplin/meshes/link_aruco_left_base.STL
diff --git a/stretch_description/meshes/joplin/link_aruco_right_base.STL b/stretch_description/batch/joplin/meshes/link_aruco_right_base.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_aruco_right_base.STL
rename to stretch_description/batch/joplin/meshes/link_aruco_right_base.STL
diff --git a/stretch_description/meshes/joplin/link_aruco_shoulder.STL b/stretch_description/batch/joplin/meshes/link_aruco_shoulder.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_aruco_shoulder.STL
rename to stretch_description/batch/joplin/meshes/link_aruco_shoulder.STL
diff --git a/stretch_description/meshes/joplin/link_aruco_top_wrist.STL b/stretch_description/batch/joplin/meshes/link_aruco_top_wrist.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_aruco_top_wrist.STL
rename to stretch_description/batch/joplin/meshes/link_aruco_top_wrist.STL
diff --git a/stretch_description/meshes/joplin/link_dry_erase_holder.STL b/stretch_description/batch/joplin/meshes/link_dry_erase_holder.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_dry_erase_holder.STL
rename to stretch_description/batch/joplin/meshes/link_dry_erase_holder.STL
diff --git a/stretch_description/meshes/joplin/link_dry_erase_marker.STL b/stretch_description/batch/joplin/meshes/link_dry_erase_marker.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_dry_erase_marker.STL
rename to stretch_description/batch/joplin/meshes/link_dry_erase_marker.STL
diff --git a/stretch_description/meshes/joplin/link_gripper.STL b/stretch_description/batch/joplin/meshes/link_gripper.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_gripper.STL
rename to stretch_description/batch/joplin/meshes/link_gripper.STL
diff --git a/stretch_description/meshes/joplin/link_gripper_finger_left.STL b/stretch_description/batch/joplin/meshes/link_gripper_finger_left.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_gripper_finger_left.STL
rename to stretch_description/batch/joplin/meshes/link_gripper_finger_left.STL
diff --git a/stretch_description/meshes/joplin/link_gripper_finger_right.STL b/stretch_description/batch/joplin/meshes/link_gripper_finger_right.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_gripper_finger_right.STL
rename to stretch_description/batch/joplin/meshes/link_gripper_finger_right.STL
diff --git a/stretch_description/meshes/joplin/link_gripper_fingertip_left.STL b/stretch_description/batch/joplin/meshes/link_gripper_fingertip_left.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_gripper_fingertip_left.STL
rename to stretch_description/batch/joplin/meshes/link_gripper_fingertip_left.STL
diff --git a/stretch_description/meshes/joplin/link_gripper_fingertip_right.STL b/stretch_description/batch/joplin/meshes/link_gripper_fingertip_right.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_gripper_fingertip_right.STL
rename to stretch_description/batch/joplin/meshes/link_gripper_fingertip_right.STL
diff --git a/stretch_description/meshes/joplin/link_head.STL b/stretch_description/batch/joplin/meshes/link_head.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_head.STL
rename to stretch_description/batch/joplin/meshes/link_head.STL
diff --git a/stretch_description/meshes/joplin/link_head_pan.STL b/stretch_description/batch/joplin/meshes/link_head_pan.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_head_pan.STL
rename to stretch_description/batch/joplin/meshes/link_head_pan.STL
diff --git a/stretch_description/meshes/joplin/link_head_tilt.STL b/stretch_description/batch/joplin/meshes/link_head_tilt.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_head_tilt.STL
rename to stretch_description/batch/joplin/meshes/link_head_tilt.STL
diff --git a/stretch_description/meshes/joplin/link_left_wheel.STL b/stretch_description/batch/joplin/meshes/link_left_wheel.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_left_wheel.STL
rename to stretch_description/batch/joplin/meshes/link_left_wheel.STL
diff --git a/stretch_description/meshes/joplin/link_lift.STL b/stretch_description/batch/joplin/meshes/link_lift.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_lift.STL
rename to stretch_description/batch/joplin/meshes/link_lift.STL
diff --git a/stretch_description/meshes/joplin/link_mast.STL b/stretch_description/batch/joplin/meshes/link_mast.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_mast.STL
rename to stretch_description/batch/joplin/meshes/link_mast.STL
diff --git a/stretch_description/meshes/joplin/link_puller.STL b/stretch_description/batch/joplin/meshes/link_puller.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_puller.STL
rename to stretch_description/batch/joplin/meshes/link_puller.STL
diff --git a/stretch_description/meshes/joplin/link_respeaker.STL b/stretch_description/batch/joplin/meshes/link_respeaker.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_respeaker.STL
rename to stretch_description/batch/joplin/meshes/link_respeaker.STL
diff --git a/stretch_description/meshes/joplin/link_right_wheel.STL b/stretch_description/batch/joplin/meshes/link_right_wheel.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_right_wheel.STL
rename to stretch_description/batch/joplin/meshes/link_right_wheel.STL
diff --git a/stretch_description/meshes/joplin/link_wrist_yaw.STL b/stretch_description/batch/joplin/meshes/link_wrist_yaw.STL
similarity index 100%
rename from stretch_description/meshes/joplin/link_wrist_yaw.STL
rename to stretch_description/batch/joplin/meshes/link_wrist_yaw.STL
diff --git a/stretch_description/meshes/joplin/omni_wheel_m.STL b/stretch_description/batch/joplin/meshes/omni_wheel_m.STL
similarity index 100%
rename from stretch_description/meshes/joplin/omni_wheel_m.STL
rename to stretch_description/batch/joplin/meshes/omni_wheel_m.STL
diff --git a/stretch_description/batch/joplin/urdf/stretch_aruco.xacro b/stretch_description/batch/joplin/urdf/stretch_aruco.xacro
new file mode 100644
index 0000000..8902d2a
--- /dev/null
+++ b/stretch_description/batch/joplin/urdf/stretch_aruco.xacro
@@ -0,0 +1,283 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/joplin/urdf/stretch_d435i.xacro b/stretch_description/batch/joplin/urdf/stretch_d435i.xacro
new file mode 100644
index 0000000..ea8d71c
--- /dev/null
+++ b/stretch_description/batch/joplin/urdf/stretch_d435i.xacro
@@ -0,0 +1,22 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/joplin/urdf/stretch_description.xacro b/stretch_description/batch/joplin/urdf/stretch_description.xacro
new file mode 100644
index 0000000..800a7a1
--- /dev/null
+++ b/stretch_description/batch/joplin/urdf/stretch_description.xacro
@@ -0,0 +1,17 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/joplin/urdf/stretch_dry_erase_marker.xacro b/stretch_description/batch/joplin/urdf/stretch_dry_erase_marker.xacro
new file mode 100644
index 0000000..de1e234
--- /dev/null
+++ b/stretch_description/batch/joplin/urdf/stretch_dry_erase_marker.xacro
@@ -0,0 +1,133 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/joplin/urdf/stretch_gripper.xacro b/stretch_description/batch/joplin/urdf/stretch_gripper.xacro
new file mode 100644
index 0000000..03acc68
--- /dev/null
+++ b/stretch_description/batch/joplin/urdf/stretch_gripper.xacro
@@ -0,0 +1,302 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/joplin/urdf/stretch_gripper_with_puller.xacro b/stretch_description/batch/joplin/urdf/stretch_gripper_with_puller.xacro
new file mode 100644
index 0000000..c3e9ecf
--- /dev/null
+++ b/stretch_description/batch/joplin/urdf/stretch_gripper_with_puller.xacro
@@ -0,0 +1,359 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/joplin/urdf/stretch_laser_range_finder.xacro b/stretch_description/batch/joplin/urdf/stretch_laser_range_finder.xacro
new file mode 100644
index 0000000..3632a66
--- /dev/null
+++ b/stretch_description/batch/joplin/urdf/stretch_laser_range_finder.xacro
@@ -0,0 +1,59 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/joplin/urdf/stretch_main.xacro b/stretch_description/batch/joplin/urdf/stretch_main.xacro
new file mode 100644
index 0000000..6309cde
--- /dev/null
+++ b/stretch_description/batch/joplin/urdf/stretch_main.xacro
@@ -0,0 +1,841 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 1.0
+ 1.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/joplin/urdf/stretch_respeaker.xacro b/stretch_description/batch/joplin/urdf/stretch_respeaker.xacro
new file mode 100644
index 0000000..428b84f
--- /dev/null
+++ b/stretch_description/batch/joplin/urdf/stretch_respeaker.xacro
@@ -0,0 +1,62 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/meshes/kendrick/base_link.STL b/stretch_description/batch/kendrick/meshes/base_link.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/base_link.STL
rename to stretch_description/batch/kendrick/meshes/base_link.STL
diff --git a/stretch_description/meshes/kendrick/laser.STL b/stretch_description/batch/kendrick/meshes/laser.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/laser.STL
rename to stretch_description/batch/kendrick/meshes/laser.STL
diff --git a/stretch_description/meshes/kendrick/link_arm_l0.STL b/stretch_description/batch/kendrick/meshes/link_arm_l0.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_arm_l0.STL
rename to stretch_description/batch/kendrick/meshes/link_arm_l0.STL
diff --git a/stretch_description/meshes/kendrick/link_arm_l1.STL b/stretch_description/batch/kendrick/meshes/link_arm_l1.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_arm_l1.STL
rename to stretch_description/batch/kendrick/meshes/link_arm_l1.STL
diff --git a/stretch_description/meshes/kendrick/link_arm_l2.STL b/stretch_description/batch/kendrick/meshes/link_arm_l2.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_arm_l2.STL
rename to stretch_description/batch/kendrick/meshes/link_arm_l2.STL
diff --git a/stretch_description/meshes/kendrick/link_arm_l3.STL b/stretch_description/batch/kendrick/meshes/link_arm_l3.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_arm_l3.STL
rename to stretch_description/batch/kendrick/meshes/link_arm_l3.STL
diff --git a/stretch_description/meshes/kendrick/link_arm_l4.STL b/stretch_description/batch/kendrick/meshes/link_arm_l4.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_arm_l4.STL
rename to stretch_description/batch/kendrick/meshes/link_arm_l4.STL
diff --git a/stretch_description/meshes/kendrick/link_aruco_inner_wrist.STL b/stretch_description/batch/kendrick/meshes/link_aruco_inner_wrist.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_aruco_inner_wrist.STL
rename to stretch_description/batch/kendrick/meshes/link_aruco_inner_wrist.STL
diff --git a/stretch_description/meshes/kendrick/link_aruco_left_base.STL b/stretch_description/batch/kendrick/meshes/link_aruco_left_base.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_aruco_left_base.STL
rename to stretch_description/batch/kendrick/meshes/link_aruco_left_base.STL
diff --git a/stretch_description/meshes/kendrick/link_aruco_right_base.STL b/stretch_description/batch/kendrick/meshes/link_aruco_right_base.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_aruco_right_base.STL
rename to stretch_description/batch/kendrick/meshes/link_aruco_right_base.STL
diff --git a/stretch_description/meshes/kendrick/link_aruco_shoulder.STL b/stretch_description/batch/kendrick/meshes/link_aruco_shoulder.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_aruco_shoulder.STL
rename to stretch_description/batch/kendrick/meshes/link_aruco_shoulder.STL
diff --git a/stretch_description/meshes/kendrick/link_aruco_top_wrist.STL b/stretch_description/batch/kendrick/meshes/link_aruco_top_wrist.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_aruco_top_wrist.STL
rename to stretch_description/batch/kendrick/meshes/link_aruco_top_wrist.STL
diff --git a/stretch_description/meshes/kendrick/link_dry_erase_holder.STL b/stretch_description/batch/kendrick/meshes/link_dry_erase_holder.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_dry_erase_holder.STL
rename to stretch_description/batch/kendrick/meshes/link_dry_erase_holder.STL
diff --git a/stretch_description/meshes/kendrick/link_dry_erase_marker.STL b/stretch_description/batch/kendrick/meshes/link_dry_erase_marker.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_dry_erase_marker.STL
rename to stretch_description/batch/kendrick/meshes/link_dry_erase_marker.STL
diff --git a/stretch_description/meshes/kendrick/link_gripper.STL b/stretch_description/batch/kendrick/meshes/link_gripper.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_gripper.STL
rename to stretch_description/batch/kendrick/meshes/link_gripper.STL
diff --git a/stretch_description/meshes/kendrick/link_gripper_finger_left.STL b/stretch_description/batch/kendrick/meshes/link_gripper_finger_left.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_gripper_finger_left.STL
rename to stretch_description/batch/kendrick/meshes/link_gripper_finger_left.STL
diff --git a/stretch_description/meshes/kendrick/link_gripper_finger_right.STL b/stretch_description/batch/kendrick/meshes/link_gripper_finger_right.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_gripper_finger_right.STL
rename to stretch_description/batch/kendrick/meshes/link_gripper_finger_right.STL
diff --git a/stretch_description/meshes/kendrick/link_gripper_fingertip_left.STL b/stretch_description/batch/kendrick/meshes/link_gripper_fingertip_left.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_gripper_fingertip_left.STL
rename to stretch_description/batch/kendrick/meshes/link_gripper_fingertip_left.STL
diff --git a/stretch_description/meshes/kendrick/link_gripper_fingertip_right.STL b/stretch_description/batch/kendrick/meshes/link_gripper_fingertip_right.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_gripper_fingertip_right.STL
rename to stretch_description/batch/kendrick/meshes/link_gripper_fingertip_right.STL
diff --git a/stretch_description/meshes/kendrick/link_head.STL b/stretch_description/batch/kendrick/meshes/link_head.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_head.STL
rename to stretch_description/batch/kendrick/meshes/link_head.STL
diff --git a/stretch_description/meshes/kendrick/link_head_pan.STL b/stretch_description/batch/kendrick/meshes/link_head_pan.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_head_pan.STL
rename to stretch_description/batch/kendrick/meshes/link_head_pan.STL
diff --git a/stretch_description/meshes/kendrick/link_head_tilt.STL b/stretch_description/batch/kendrick/meshes/link_head_tilt.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_head_tilt.STL
rename to stretch_description/batch/kendrick/meshes/link_head_tilt.STL
diff --git a/stretch_description/meshes/kendrick/link_left_wheel.STL b/stretch_description/batch/kendrick/meshes/link_left_wheel.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_left_wheel.STL
rename to stretch_description/batch/kendrick/meshes/link_left_wheel.STL
diff --git a/stretch_description/meshes/kendrick/link_lift.STL b/stretch_description/batch/kendrick/meshes/link_lift.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_lift.STL
rename to stretch_description/batch/kendrick/meshes/link_lift.STL
diff --git a/stretch_description/meshes/kendrick/link_mast.STL b/stretch_description/batch/kendrick/meshes/link_mast.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_mast.STL
rename to stretch_description/batch/kendrick/meshes/link_mast.STL
diff --git a/stretch_description/meshes/kendrick/link_puller.STL b/stretch_description/batch/kendrick/meshes/link_puller.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_puller.STL
rename to stretch_description/batch/kendrick/meshes/link_puller.STL
diff --git a/stretch_description/meshes/kendrick/link_respeaker.STL b/stretch_description/batch/kendrick/meshes/link_respeaker.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_respeaker.STL
rename to stretch_description/batch/kendrick/meshes/link_respeaker.STL
diff --git a/stretch_description/meshes/kendrick/link_right_wheel.STL b/stretch_description/batch/kendrick/meshes/link_right_wheel.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_right_wheel.STL
rename to stretch_description/batch/kendrick/meshes/link_right_wheel.STL
diff --git a/stretch_description/meshes/kendrick/link_wrist_yaw.STL b/stretch_description/batch/kendrick/meshes/link_wrist_yaw.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/link_wrist_yaw.STL
rename to stretch_description/batch/kendrick/meshes/link_wrist_yaw.STL
diff --git a/stretch_description/meshes/kendrick/omni_wheel_m.STL b/stretch_description/batch/kendrick/meshes/omni_wheel_m.STL
similarity index 100%
rename from stretch_description/meshes/kendrick/omni_wheel_m.STL
rename to stretch_description/batch/kendrick/meshes/omni_wheel_m.STL
diff --git a/stretch_description/batch/kendrick/urdf/stretch_aruco.xacro b/stretch_description/batch/kendrick/urdf/stretch_aruco.xacro
new file mode 100644
index 0000000..8902d2a
--- /dev/null
+++ b/stretch_description/batch/kendrick/urdf/stretch_aruco.xacro
@@ -0,0 +1,283 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/kendrick/urdf/stretch_d435i.xacro b/stretch_description/batch/kendrick/urdf/stretch_d435i.xacro
new file mode 100644
index 0000000..ea8d71c
--- /dev/null
+++ b/stretch_description/batch/kendrick/urdf/stretch_d435i.xacro
@@ -0,0 +1,22 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/kendrick/urdf/stretch_description.xacro b/stretch_description/batch/kendrick/urdf/stretch_description.xacro
new file mode 100644
index 0000000..800a7a1
--- /dev/null
+++ b/stretch_description/batch/kendrick/urdf/stretch_description.xacro
@@ -0,0 +1,17 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/kendrick/urdf/stretch_dry_erase_marker.xacro b/stretch_description/batch/kendrick/urdf/stretch_dry_erase_marker.xacro
new file mode 100644
index 0000000..de1e234
--- /dev/null
+++ b/stretch_description/batch/kendrick/urdf/stretch_dry_erase_marker.xacro
@@ -0,0 +1,133 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/kendrick/urdf/stretch_gripper.xacro b/stretch_description/batch/kendrick/urdf/stretch_gripper.xacro
new file mode 100644
index 0000000..03acc68
--- /dev/null
+++ b/stretch_description/batch/kendrick/urdf/stretch_gripper.xacro
@@ -0,0 +1,302 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/kendrick/urdf/stretch_gripper_with_puller.xacro b/stretch_description/batch/kendrick/urdf/stretch_gripper_with_puller.xacro
new file mode 100644
index 0000000..c3e9ecf
--- /dev/null
+++ b/stretch_description/batch/kendrick/urdf/stretch_gripper_with_puller.xacro
@@ -0,0 +1,359 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/kendrick/urdf/stretch_laser_range_finder.xacro b/stretch_description/batch/kendrick/urdf/stretch_laser_range_finder.xacro
new file mode 100644
index 0000000..3632a66
--- /dev/null
+++ b/stretch_description/batch/kendrick/urdf/stretch_laser_range_finder.xacro
@@ -0,0 +1,59 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/kendrick/urdf/stretch_main.xacro b/stretch_description/batch/kendrick/urdf/stretch_main.xacro
new file mode 100644
index 0000000..6309cde
--- /dev/null
+++ b/stretch_description/batch/kendrick/urdf/stretch_main.xacro
@@ -0,0 +1,841 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 1.0
+ 1.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/kendrick/urdf/stretch_respeaker.xacro b/stretch_description/batch/kendrick/urdf/stretch_respeaker.xacro
new file mode 100644
index 0000000..428b84f
--- /dev/null
+++ b/stretch_description/batch/kendrick/urdf/stretch_respeaker.xacro
@@ -0,0 +1,62 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/mitski/meshes/base_link.STL b/stretch_description/batch/mitski/meshes/base_link.STL
new file mode 100644
index 0000000..8a33531
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/base_link.STL differ
diff --git a/stretch_description/batch/mitski/meshes/laser.STL b/stretch_description/batch/mitski/meshes/laser.STL
new file mode 100644
index 0000000..5646371
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/laser.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_arm_l0.STL b/stretch_description/batch/mitski/meshes/link_arm_l0.STL
new file mode 100644
index 0000000..c09a843
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_arm_l0.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_arm_l1.STL b/stretch_description/batch/mitski/meshes/link_arm_l1.STL
new file mode 100644
index 0000000..68d6383
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_arm_l1.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_arm_l2.STL b/stretch_description/batch/mitski/meshes/link_arm_l2.STL
new file mode 100644
index 0000000..9cef8b0
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_arm_l2.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_arm_l3.STL b/stretch_description/batch/mitski/meshes/link_arm_l3.STL
new file mode 100644
index 0000000..e45e5d3
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_arm_l3.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_arm_l4.STL b/stretch_description/batch/mitski/meshes/link_arm_l4.STL
new file mode 100644
index 0000000..1a547ec
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_arm_l4.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_aruco_inner_wrist.STL b/stretch_description/batch/mitski/meshes/link_aruco_inner_wrist.STL
new file mode 100644
index 0000000..613a5d3
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_aruco_inner_wrist.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_aruco_left_base.STL b/stretch_description/batch/mitski/meshes/link_aruco_left_base.STL
new file mode 100644
index 0000000..109749c
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_aruco_left_base.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_aruco_right_base.STL b/stretch_description/batch/mitski/meshes/link_aruco_right_base.STL
new file mode 100644
index 0000000..0894866
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_aruco_right_base.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_aruco_shoulder.STL b/stretch_description/batch/mitski/meshes/link_aruco_shoulder.STL
new file mode 100644
index 0000000..59134c7
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_aruco_shoulder.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_aruco_top_wrist.STL b/stretch_description/batch/mitski/meshes/link_aruco_top_wrist.STL
new file mode 100644
index 0000000..5748893
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_aruco_top_wrist.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_camera.STL b/stretch_description/batch/mitski/meshes/link_camera.STL
new file mode 100644
index 0000000..e257ea9
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_camera.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_dry_erase_holder.STL b/stretch_description/batch/mitski/meshes/link_dry_erase_holder.STL
new file mode 100644
index 0000000..a123087
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_dry_erase_holder.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_dry_erase_marker.STL b/stretch_description/batch/mitski/meshes/link_dry_erase_marker.STL
new file mode 100644
index 0000000..5929498
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_dry_erase_marker.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_gripper.STL b/stretch_description/batch/mitski/meshes/link_gripper.STL
new file mode 100644
index 0000000..5b64977
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_gripper.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_gripper_finger_left.STL b/stretch_description/batch/mitski/meshes/link_gripper_finger_left.STL
new file mode 100644
index 0000000..3da0e91
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_gripper_finger_left.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_gripper_finger_right.STL b/stretch_description/batch/mitski/meshes/link_gripper_finger_right.STL
new file mode 100644
index 0000000..7a6ac10
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_gripper_finger_right.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_gripper_fingertip_left.STL b/stretch_description/batch/mitski/meshes/link_gripper_fingertip_left.STL
new file mode 100644
index 0000000..58b5e22
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_gripper_fingertip_left.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_gripper_fingertip_right.STL b/stretch_description/batch/mitski/meshes/link_gripper_fingertip_right.STL
new file mode 100644
index 0000000..022eff8
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_gripper_fingertip_right.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_head.STL b/stretch_description/batch/mitski/meshes/link_head.STL
new file mode 100644
index 0000000..8373521
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_head.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_head_pan.STL b/stretch_description/batch/mitski/meshes/link_head_pan.STL
new file mode 100644
index 0000000..04ea7f9
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_head_pan.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_head_tilt.STL b/stretch_description/batch/mitski/meshes/link_head_tilt.STL
new file mode 100644
index 0000000..4ba7edc
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_head_tilt.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_left_wheel.STL b/stretch_description/batch/mitski/meshes/link_left_wheel.STL
new file mode 100644
index 0000000..d0412b9
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_left_wheel.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_lift.STL b/stretch_description/batch/mitski/meshes/link_lift.STL
new file mode 100644
index 0000000..2b19885
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_lift.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_mast.STL b/stretch_description/batch/mitski/meshes/link_mast.STL
new file mode 100644
index 0000000..87cbc61
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_mast.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_puller.STL b/stretch_description/batch/mitski/meshes/link_puller.STL
new file mode 100644
index 0000000..33dd044
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_puller.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_respeaker.STL b/stretch_description/batch/mitski/meshes/link_respeaker.STL
new file mode 100644
index 0000000..34ba67f
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_respeaker.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_right_wheel.STL b/stretch_description/batch/mitski/meshes/link_right_wheel.STL
new file mode 100644
index 0000000..676298a
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_right_wheel.STL differ
diff --git a/stretch_description/batch/mitski/meshes/link_wrist_yaw.STL b/stretch_description/batch/mitski/meshes/link_wrist_yaw.STL
new file mode 100644
index 0000000..50cf4b9
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/link_wrist_yaw.STL differ
diff --git a/stretch_description/batch/mitski/meshes/omni_wheel_m.STL b/stretch_description/batch/mitski/meshes/omni_wheel_m.STL
new file mode 100644
index 0000000..19d2bb8
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/omni_wheel_m.STL differ
diff --git a/stretch_description/batch/mitski/meshes/respeaker_base.STL b/stretch_description/batch/mitski/meshes/respeaker_base.STL
new file mode 100644
index 0000000..f681199
Binary files /dev/null and b/stretch_description/batch/mitski/meshes/respeaker_base.STL differ
diff --git a/stretch_description/batch/mitski/urdf/stretch_aruco.xacro b/stretch_description/batch/mitski/urdf/stretch_aruco.xacro
new file mode 100644
index 0000000..48bb565
--- /dev/null
+++ b/stretch_description/batch/mitski/urdf/stretch_aruco.xacro
@@ -0,0 +1,283 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/mitski/urdf/stretch_d435i.xacro b/stretch_description/batch/mitski/urdf/stretch_d435i.xacro
new file mode 100644
index 0000000..167383d
--- /dev/null
+++ b/stretch_description/batch/mitski/urdf/stretch_d435i.xacro
@@ -0,0 +1,23 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/mitski/urdf/stretch_description.xacro b/stretch_description/batch/mitski/urdf/stretch_description.xacro
new file mode 100644
index 0000000..800a7a1
--- /dev/null
+++ b/stretch_description/batch/mitski/urdf/stretch_description.xacro
@@ -0,0 +1,17 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/mitski/urdf/stretch_dry_erase_marker.xacro b/stretch_description/batch/mitski/urdf/stretch_dry_erase_marker.xacro
new file mode 100644
index 0000000..de1e234
--- /dev/null
+++ b/stretch_description/batch/mitski/urdf/stretch_dry_erase_marker.xacro
@@ -0,0 +1,133 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/mitski/urdf/stretch_gripper.xacro b/stretch_description/batch/mitski/urdf/stretch_gripper.xacro
new file mode 100644
index 0000000..03acc68
--- /dev/null
+++ b/stretch_description/batch/mitski/urdf/stretch_gripper.xacro
@@ -0,0 +1,302 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/mitski/urdf/stretch_gripper_with_puller.xacro b/stretch_description/batch/mitski/urdf/stretch_gripper_with_puller.xacro
new file mode 100644
index 0000000..c3e9ecf
--- /dev/null
+++ b/stretch_description/batch/mitski/urdf/stretch_gripper_with_puller.xacro
@@ -0,0 +1,359 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/mitski/urdf/stretch_laser_range_finder.xacro b/stretch_description/batch/mitski/urdf/stretch_laser_range_finder.xacro
new file mode 100644
index 0000000..bc89ffd
--- /dev/null
+++ b/stretch_description/batch/mitski/urdf/stretch_laser_range_finder.xacro
@@ -0,0 +1,59 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/mitski/urdf/stretch_main.xacro b/stretch_description/batch/mitski/urdf/stretch_main.xacro
new file mode 100644
index 0000000..97cd61f
--- /dev/null
+++ b/stretch_description/batch/mitski/urdf/stretch_main.xacro
@@ -0,0 +1,841 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 1.0
+ 1.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/stretch_description/batch/mitski/urdf/stretch_respeaker.xacro b/stretch_description/batch/mitski/urdf/stretch_respeaker.xacro
new file mode 100644
index 0000000..120d9ee
--- /dev/null
+++ b/stretch_description/batch/mitski/urdf/stretch_respeaker.xacro
@@ -0,0 +1,62 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/stretch_description/batch/update_description.py b/stretch_description/batch/update_description.py
new file mode 100755
index 0000000..e14b867
--- /dev/null
+++ b/stretch_description/batch/update_description.py
@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+"""
+This script updates the Mesh files and URDF file specific to a robot batch.
+"""
+import os
+from os.path import exists
+import stretch_body.hello_utils as hu
+import subprocess
+import sys
+
+
+def run_cmd(cmdstr):
+ process = subprocess.run(cmdstr, capture_output=True, text=True, shell=True)
+ if process.returncode != 0:
+ print("update_description.py ERROR: {}".format(process.stderr), file=sys.stderr)
+ sys.exit(1)
+ return process
+
+
+if exists(hu.get_fleet_directory() + 'stretch_configuration_params.yaml'):
+ batch_name = hu.read_fleet_yaml('stretch_configuration_params.yaml')['robot']['batch_name'].lower()
+else:
+ batch_name = hu.read_fleet_yaml('stretch_re1_factory_params.yaml')['robot']['batch_name'].lower()
+
+batch_meshes_path = os.path.expanduser(
+ '~/catkin_ws/src/stretch_ros/stretch_description/batch/' + batch_name) + '/meshes/*.STL'
+batch_urdfs_path = os.path.expanduser('~/catkin_ws/src/stretch_ros/stretch_description/batch/' + batch_name) + '/urdf/*.xacro'
+
+meshes_path = os.path.expanduser('~/catkin_ws/src/stretch_ros/stretch_description/meshes')
+urdfs_path = os.path.expanduser('~/catkin_ws/src/stretch_ros/stretch_description/urdf')
+
+cmd_cp_meshes = 'cp {} {}'.format(batch_meshes_path, meshes_path)
+cmd_cp_urdfs = 'cp {} {}'.format(batch_urdfs_path, urdfs_path)
+
+print("Copying in Mesh files and URDF files from batch:" + batch_name)
+print(cmd_cp_meshes)
+run_cmd(cmd_cp_meshes)
+
+print(cmd_cp_urdfs)
+run_cmd(cmd_cp_urdfs)
diff --git a/stretch_description/meshes/base_link.STL b/stretch_description/meshes/base_link.STL
index 4d5884c..8a33531 100644
Binary files a/stretch_description/meshes/base_link.STL and b/stretch_description/meshes/base_link.STL differ
diff --git a/stretch_description/meshes/link_arm_l0.STL b/stretch_description/meshes/link_arm_l0.STL
index c333f85..c09a843 100644
Binary files a/stretch_description/meshes/link_arm_l0.STL and b/stretch_description/meshes/link_arm_l0.STL differ
diff --git a/stretch_description/meshes/link_arm_l1.STL b/stretch_description/meshes/link_arm_l1.STL
index 3b6fc65..68d6383 100644
Binary files a/stretch_description/meshes/link_arm_l1.STL and b/stretch_description/meshes/link_arm_l1.STL differ
diff --git a/stretch_description/meshes/link_arm_l2.STL b/stretch_description/meshes/link_arm_l2.STL
index d303727..9cef8b0 100644
Binary files a/stretch_description/meshes/link_arm_l2.STL and b/stretch_description/meshes/link_arm_l2.STL differ
diff --git a/stretch_description/meshes/link_arm_l3.STL b/stretch_description/meshes/link_arm_l3.STL
index 3557a2f..e45e5d3 100644
Binary files a/stretch_description/meshes/link_arm_l3.STL and b/stretch_description/meshes/link_arm_l3.STL differ
diff --git a/stretch_description/meshes/link_arm_l4.STL b/stretch_description/meshes/link_arm_l4.STL
index 9a454e8..1a547ec 100644
Binary files a/stretch_description/meshes/link_arm_l4.STL and b/stretch_description/meshes/link_arm_l4.STL differ
diff --git a/stretch_description/meshes/link_aruco_inner_wrist.STL b/stretch_description/meshes/link_aruco_inner_wrist.STL
index 10db01e..613a5d3 100644
Binary files a/stretch_description/meshes/link_aruco_inner_wrist.STL and b/stretch_description/meshes/link_aruco_inner_wrist.STL differ
diff --git a/stretch_description/meshes/link_aruco_left_base.STL b/stretch_description/meshes/link_aruco_left_base.STL
index 8ea0795..109749c 100644
Binary files a/stretch_description/meshes/link_aruco_left_base.STL and b/stretch_description/meshes/link_aruco_left_base.STL differ
diff --git a/stretch_description/meshes/link_aruco_right_base.STL b/stretch_description/meshes/link_aruco_right_base.STL
index 8ea0795..0894866 100644
Binary files a/stretch_description/meshes/link_aruco_right_base.STL and b/stretch_description/meshes/link_aruco_right_base.STL differ
diff --git a/stretch_description/meshes/link_aruco_shoulder.STL b/stretch_description/meshes/link_aruco_shoulder.STL
index 98d6567..59134c7 100644
Binary files a/stretch_description/meshes/link_aruco_shoulder.STL and b/stretch_description/meshes/link_aruco_shoulder.STL differ
diff --git a/stretch_description/meshes/link_aruco_top_wrist.STL b/stretch_description/meshes/link_aruco_top_wrist.STL
index 2a53165..5748893 100644
Binary files a/stretch_description/meshes/link_aruco_top_wrist.STL and b/stretch_description/meshes/link_aruco_top_wrist.STL differ
diff --git a/stretch_description/meshes/link_camera.STL b/stretch_description/meshes/link_camera.STL
new file mode 100644
index 0000000..e257ea9
Binary files /dev/null and b/stretch_description/meshes/link_camera.STL differ
diff --git a/stretch_description/meshes/link_gripper.STL b/stretch_description/meshes/link_gripper.STL
index 7ae7d2e..5b64977 100644
Binary files a/stretch_description/meshes/link_gripper.STL and b/stretch_description/meshes/link_gripper.STL differ
diff --git a/stretch_description/meshes/link_gripper_finger_left.STL b/stretch_description/meshes/link_gripper_finger_left.STL
index 60848f1..3da0e91 100644
Binary files a/stretch_description/meshes/link_gripper_finger_left.STL and b/stretch_description/meshes/link_gripper_finger_left.STL differ
diff --git a/stretch_description/meshes/link_gripper_finger_right.STL b/stretch_description/meshes/link_gripper_finger_right.STL
index 6efbb40..7a6ac10 100644
Binary files a/stretch_description/meshes/link_gripper_finger_right.STL and b/stretch_description/meshes/link_gripper_finger_right.STL differ
diff --git a/stretch_description/meshes/link_gripper_fingertip_left.STL b/stretch_description/meshes/link_gripper_fingertip_left.STL
index 853c3be..58b5e22 100644
Binary files a/stretch_description/meshes/link_gripper_fingertip_left.STL and b/stretch_description/meshes/link_gripper_fingertip_left.STL differ
diff --git a/stretch_description/meshes/link_gripper_fingertip_right.STL b/stretch_description/meshes/link_gripper_fingertip_right.STL
index c40a44f..022eff8 100644
Binary files a/stretch_description/meshes/link_gripper_fingertip_right.STL and b/stretch_description/meshes/link_gripper_fingertip_right.STL differ
diff --git a/stretch_description/meshes/link_head.STL b/stretch_description/meshes/link_head.STL
index 0614101..8373521 100644
Binary files a/stretch_description/meshes/link_head.STL and b/stretch_description/meshes/link_head.STL differ
diff --git a/stretch_description/meshes/link_head_pan.STL b/stretch_description/meshes/link_head_pan.STL
index eaa3ebd..04ea7f9 100644
Binary files a/stretch_description/meshes/link_head_pan.STL and b/stretch_description/meshes/link_head_pan.STL differ
diff --git a/stretch_description/meshes/link_head_tilt.STL b/stretch_description/meshes/link_head_tilt.STL
index f1c5026..4ba7edc 100644
Binary files a/stretch_description/meshes/link_head_tilt.STL and b/stretch_description/meshes/link_head_tilt.STL differ
diff --git a/stretch_description/meshes/link_left_wheel.STL b/stretch_description/meshes/link_left_wheel.STL
index 97837f2..d0412b9 100644
Binary files a/stretch_description/meshes/link_left_wheel.STL and b/stretch_description/meshes/link_left_wheel.STL differ
diff --git a/stretch_description/meshes/link_lift.STL b/stretch_description/meshes/link_lift.STL
index e9f16bf..2b19885 100644
Binary files a/stretch_description/meshes/link_lift.STL and b/stretch_description/meshes/link_lift.STL differ
diff --git a/stretch_description/meshes/link_mast.STL b/stretch_description/meshes/link_mast.STL
index 9ba50d8..87cbc61 100644
Binary files a/stretch_description/meshes/link_mast.STL and b/stretch_description/meshes/link_mast.STL differ
diff --git a/stretch_description/meshes/link_right_wheel.STL b/stretch_description/meshes/link_right_wheel.STL
index f9e5483..676298a 100644
Binary files a/stretch_description/meshes/link_right_wheel.STL and b/stretch_description/meshes/link_right_wheel.STL differ
diff --git a/stretch_description/meshes/link_wrist_yaw.STL b/stretch_description/meshes/link_wrist_yaw.STL
index 39498ae..50cf4b9 100644
Binary files a/stretch_description/meshes/link_wrist_yaw.STL and b/stretch_description/meshes/link_wrist_yaw.STL differ
diff --git a/stretch_description/meshes/respeaker_base.STL b/stretch_description/meshes/respeaker_base.STL
new file mode 100644
index 0000000..f681199
Binary files /dev/null and b/stretch_description/meshes/respeaker_base.STL differ
diff --git a/stretch_description/meshes/update_meshes.py b/stretch_description/meshes/update_meshes.py
deleted file mode 100755
index 5398a09..0000000
--- a/stretch_description/meshes/update_meshes.py
+++ /dev/null
@@ -1,13 +0,0 @@
-#!/usr/bin/env python3
-import os
-from os.path import exists
-import stretch_body.hello_utils as hu
-
-if exists(hu.get_fleet_directory()+'stretch_configuration_params.yaml'):
- batch_name = hu.read_fleet_yaml('stretch_configuration_params.yaml')['robot']['batch_name'].lower()
-else:
- batch_name = hu.read_fleet_yaml('stretch_re1_factory_params.yaml')['robot']['batch_name'].lower()
-cmd='cp ~/catkin_ws/src/stretch_ros/stretch_description/meshes/'+batch_name+'/*.STL ~/catkin_ws/src/stretch_ros/stretch_description/meshes'
-print("Copying in mesh files from batch:"+batch_name)
-print(cmd)
-os.system(cmd)
diff --git a/stretch_description/urdf/stretch_aruco.xacro b/stretch_description/urdf/stretch_aruco.xacro
index 8902d2a..48bb565 100644
--- a/stretch_description/urdf/stretch_aruco.xacro
+++ b/stretch_description/urdf/stretch_aruco.xacro
@@ -5,7 +5,7 @@
name="link_aruco_right_base">
@@ -46,7 +46,7 @@
name="joint_aruco_right_base"
type="fixed">
@@ -61,7 +61,7 @@
name="link_aruco_left_base">
@@ -171,7 +171,7 @@
name="link_aruco_top_wrist">
diff --git a/stretch_description/urdf/stretch_d435i.xacro b/stretch_description/urdf/stretch_d435i.xacro
index ea8d71c..167383d 100644
--- a/stretch_description/urdf/stretch_d435i.xacro
+++ b/stretch_description/urdf/stretch_d435i.xacro
@@ -15,6 +15,7 @@
xyz="0.03 -0.0122 0.0182"
rpy="0.0 0.0 0.0" />
+
diff --git a/stretch_description/urdf/stretch_laser_range_finder.xacro b/stretch_description/urdf/stretch_laser_range_finder.xacro
index 3632a66..bc89ffd 100644
--- a/stretch_description/urdf/stretch_laser_range_finder.xacro
+++ b/stretch_description/urdf/stretch_laser_range_finder.xacro
@@ -46,8 +46,8 @@
name="joint_laser"
type="fixed">
+ xyz="0.004 0 0.1664"
+ rpy="0 0 3.1416" />
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- 0
- 0
- 1.0
- 1.0
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 0
+ 0
+ 1.0
+ 1.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/stretch_description/urdf/stretch_respeaker.xacro b/stretch_description/urdf/stretch_respeaker.xacro
index 428b84f..120d9ee 100644
--- a/stretch_description/urdf/stretch_respeaker.xacro
+++ b/stretch_description/urdf/stretch_respeaker.xacro
@@ -1,20 +1,21 @@
-
+
+ value="0.015643" />
+ ixx="1.0075E-06"
+ ixy="-5.4396E-08"
+ ixz="-2.8652E-07"
+ iyy="1.0569E-06"
+ iyz="-1.8463E-07"
+ izz="1.1947E-07" />
+ filename="package://stretch_description/meshes/respeaker_base.STL" />
+ rgba="0.79216 0.81961 0.93333 1" />
@@ -36,7 +37,7 @@
rpy="0 0 0" />
+ filename="package://stretch_description/meshes/respeaker_base.STL" />
@@ -44,10 +45,9 @@
-
+ xyz="0 1.37236408874452 0.00303065898329655"
+ rpy="-1.5707963267949 -0.698131700797725 4.93295812652799E-16" />