diff --git a/stretch_core/rviz/stretch_simple_test.rviz b/stretch_core/rviz/stretch_simple_test.rviz
index 65dfc7f..fd6eb98 100644
--- a/stretch_core/rviz/stretch_simple_test.rviz
+++ b/stretch_core/rviz/stretch_simple_test.rviz
@@ -8,9 +8,7 @@ Panels:
         - /Status1
         - /RobotModel1
         - /RobotModel1/Links1
-        - /RobotModel1/Links1/link_gripper1
-        - /RobotModel1/Links1/link_lift1
-        - /RobotModel1/Links1/link_wrist_yaw1
+        - /RobotModel1/Links1/link_gripper_finger_left1
       Splitter Ratio: 0.5
     Tree Height: 1484
   - Class: rviz/Selection
@@ -62,7 +60,7 @@ Visualization Manager:
       Collision Enabled: false
       Enabled: true
       Links:
-        All Links Enabled: true
+        All Links Enabled: false
         Expand Joint Details: false
         Expand Link Details: false
         Expand Tree: false
@@ -120,7 +118,7 @@ Visualization Manager:
           Value: true
         link_arm_l0:
           Alpha: 1
-          Show Axes: true
+          Show Axes: false
           Show Trail: false
           Value: true
         link_arm_l1:
@@ -168,9 +166,13 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        link_grasp_center:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         link_gripper:
           Alpha: 1
-          Show Axes: true
+          Show Axes: false
           Show Trail: false
           Value: true
         link_gripper_finger_left:
@@ -223,6 +225,11 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        link_puller:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: false
         link_right_wheel:
           Alpha: 1
           Show Axes: false
@@ -363,25 +370,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 0.8282229900360107
+      Distance: 0.9523301124572754
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -0.09536467492580414
-        Y: -0.08481967449188232
-        Z: 0.6443694829940796
+        X: -0.060830965638160706
+        Y: -0.08009408414363861
+        Z: 0.6235455274581909
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7597976326942444
+      Pitch: 0.8447968363761902
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 5.240455150604248
+      Yaw: 5.8704514503479
     Saved: ~
 Window Geometry:
   Displays:
@@ -389,7 +396,7 @@ Window Geometry:
   Height: 1781
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001d800000657fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000657000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000ba60000003efc0100000002fb0000000800540069006d0065010000000000000ba6000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000009c80000065700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000025700000657fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000657000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000ba60000003efc0100000002fb0000000800540069006d0065010000000000000ba6000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000009490000065700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
diff --git a/stretch_description/meshes/link_straight_gripper.STL b/stretch_description/meshes/link_straight_gripper.STL
new file mode 100644
index 0000000..1703253
Binary files /dev/null and b/stretch_description/meshes/link_straight_gripper.STL differ
diff --git a/stretch_description/meshes/link_wrist_USB_board_camera.STL b/stretch_description/meshes/link_wrist_USB_board_camera.STL
new file mode 100644
index 0000000..aaaf531
Binary files /dev/null and b/stretch_description/meshes/link_wrist_USB_board_camera.STL differ
diff --git a/stretch_description/meshes/link_wrist_pitch.STL b/stretch_description/meshes/link_wrist_pitch.STL
new file mode 100644
index 0000000..fbbc231
Binary files /dev/null and b/stretch_description/meshes/link_wrist_pitch.STL differ
diff --git a/stretch_description/meshes/link_wrist_roll.STL b/stretch_description/meshes/link_wrist_roll.STL
new file mode 100644
index 0000000..f0fb8f4
Binary files /dev/null and b/stretch_description/meshes/link_wrist_roll.STL differ
diff --git a/stretch_description/meshes/link_wrist_yaw_bottom.STL b/stretch_description/meshes/link_wrist_yaw_bottom.STL
new file mode 100644
index 0000000..ed4bde1
Binary files /dev/null and b/stretch_description/meshes/link_wrist_yaw_bottom.STL differ
diff --git a/stretch_description/urdf/stretch_description.xacro b/stretch_description/urdf/stretch_description.xacro
index 953a690..817eecc 100644
--- a/stretch_description/urdf/stretch_description.xacro
+++ b/stretch_description/urdf/stretch_description.xacro
@@ -1,10 +1,15 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_description">
 
-  <xacro:include filename="stretch_gripper.xacro" />
+
+
+  <xacro:include filename="stretch_dex_wrist_beta.xacro" />
   <!--<xacro:include filename="stretch_gripper_with_puller.xacro" />-->
+  <!--<xacro:include filename="stretch_gripper.xacro" />-->
   <!--<xacro:include filename="stretch_dry_erase_marker.xacro" />-->
-    
+  <!--<xacro:include filename="stretch_dex_wrist_beta.xacro" />-->
+  <!--<xacro:include filename="stretch_wrist_USB_board_camera.xacro" />-->
+
   <xacro:include filename="stretch_main.xacro" />
   <xacro:include filename="stretch_aruco.xacro" />
   <xacro:include filename="stretch_d435i.xacro" />
diff --git a/stretch_description/urdf/stretch_dex_wrist_beta.xacro b/stretch_description/urdf/stretch_dex_wrist_beta.xacro
new file mode 100644
index 0000000..5484680
--- /dev/null
+++ b/stretch_description/urdf/stretch_dex_wrist_beta.xacro
@@ -0,0 +1,434 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_dex_wrist_beta">
+
+  <xacro:property name="scale_finger_length" value="0.9" />
+
+  <link
+    name="link_wrist_yaw_bottom">
+    <inertial>
+      <origin
+        xyz="-0.012839101377342 -0.0382787718640742 -0.0228400332263617"
+        rpy="0 0 0" />
+      <mass
+        value="0.0988906816399982" />
+      <inertia
+        ixx="2.60067866573596E-05"
+        ixy="-6.73176267521354E-06"
+        ixz="-2.43476436723672E-06"
+        iyy="5.99482946819923E-06"
+        iyz="-3.39642410492401E-06"
+        izz="2.56907114334732E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_wrist_yaw_bottom.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_wrist_yaw_bottom.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_wrist_yaw_bottom"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="-3.14159265358979 1.13367999021379E-14 1.57079632679489" />
+    <parent
+      link="link_wrist_yaw" />
+    <child
+      link="link_wrist_yaw_bottom" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="link_wrist_pitch">
+    <inertial>
+      <origin
+        xyz="-0.00310609611067142 -0.0150777141465843 0.0204734587925901"
+        rpy="0 0 0" />
+      <mass
+        value="0.0701267146295583" />
+      <inertia
+        ixx="2.55965614980905E-06"
+        ixy="-1.47551515167608E-06"
+        ixz="-6.31436085977252E-08"
+        iyy="3.43968637386282E-06"
+        iyz="-4.17813567208843E-07"
+        izz="4.53568668211393E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_wrist_pitch.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_wrist_pitch.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_wrist_pitch"
+    type="revolute">
+    <origin
+      xyz="0 -0.0195500000000002 -0.0247499999999984"
+      rpy="1.5707963267949 -8.12895570882604E-15 -3.14159265358979" />
+    <parent
+      link="link_wrist_yaw_bottom" />
+    <child
+      link="link_wrist_pitch" />
+    <axis
+      xyz="0 0 1" />
+    <limit effort="100" lower="-1.14" upper="3.14" velocity="1.0"/>
+  </joint>
+  <link
+    name="link_wrist_roll">
+    <inertial>
+      <origin
+        xyz="9.63118473862323E-15 -6.38378239159465E-15 0.00768048802649798"
+        rpy="0 0 0" />
+      <mass
+        value="0.00585666394358811" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_wrist_roll.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_wrist_roll.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_wrist_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0188587444076125 -0.0239999999998942 0.01955"
+      rpy="3.14159265358979 1.5707963267949 0" />
+    <parent
+      link="link_wrist_pitch" />
+    <child
+      link="link_wrist_roll" />
+    <axis
+      xyz="0 0 1" />
+    <limit effort="100" lower="-3.14" upper="3.14" velocity="1.0"/>
+  </joint>
+  <link
+    name="link_straight_gripper">
+    <inertial>
+      <origin
+        xyz="0.00150764845432383 -0.00711581846201287 0.0399737901417758"
+        rpy="0 0 0" />
+      <mass
+        value="0.0496384234458284" />
+      <inertia
+        ixx="5.61461154156397E-06"
+        ixy="8.29518962984231E-07"
+        ixz="-2.41382921888194E-06"
+        iyy="1.11504692003467E-05"
+        iyz="9.76174898123369E-07"
+        izz="6.63803357903882E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_straight_gripper.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_straight_gripper.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_straight_gripper"
+    type="fixed">
+    <origin
+      xyz="0 0 0.0155"
+      rpy="3.54987407349455E-30 3.24021254484265E-20 -3.14159265358979" />
+    <parent
+      link="link_wrist_roll" />
+    <child
+      link="link_straight_gripper" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="link_gripper_finger_right">
+    <inertial>
+      <origin
+        xyz="-0.094981 -0.0080152 -2.2204E-16"
+        rpy="0 0 0" />
+      <mass
+        value="0.047621" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_right.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_gripper_finger_right"
+    type="revolute">
+    <origin
+      xyz="-0.018599 0.003 0.033689"
+      rpy="1.5708 1.5708 0" />
+    <parent
+      link="link_straight_gripper" />
+    <child
+      link="link_gripper_finger_right" />
+    <axis
+      xyz="0 0 1" />
+    <limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
+  </joint>
+  <link
+    name="link_gripper_fingertip_right">
+    <inertial>
+      <origin
+        xyz="2.83785970833783E-08 6.75131661687089E-09 0.00812578923434215"
+        rpy="0 0 0" />
+      <mass
+        value="0.00382160881468841" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_gripper_fingertip_right"
+    type="fixed">
+    <origin
+      xyz="-0.190596948563868 -0.015 0"
+      rpy="-1.57079632679483 -3.43320051448326E-14 0.540456056432235" />
+    <parent
+      link="link_gripper_finger_right" />
+    <child
+      link="link_gripper_fingertip_right" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="link_gripper_finger_left">
+    <inertial>
+      <origin
+        xyz="0.0949811095686165 -0.00801522758203194 1.38777878078145E-15"
+        rpy="0 0 0" />
+      <mass
+        value="0.0476207785199479" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="3.141592653589793 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_left.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="1.5707963267948966 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_left.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_gripper_finger_left"
+    type="revolute">
+    <origin
+      xyz="0.018599 0.003 0.033689"
+      rpy="1.5708 -1.5708 0" />
+    <parent
+      link="link_straight_gripper" />
+    <child
+      link="link_gripper_finger_left" />
+    <axis
+      xyz="0 0 -1" />
+    <limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
+  </joint>
+  <link
+    name="link_gripper_fingertip_left">
+    <inertial>
+      <origin
+        xyz="-2.59496317767116E-08 -6.65612598371723E-09 0.00812579036862837"
+        rpy="0 0 0" />
+      <mass
+        value="0.00382160686584851" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_left.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_gripper_fingertip_left"
+    type="fixed">
+    <origin
+      xyz="0.190596948563868 -0.015 0"
+      rpy="1.57079632679496 4.51275387511463E-14 2.60113659715756" />
+    <parent
+      link="link_gripper_finger_left" />
+    <child
+      link="link_gripper_fingertip_left" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/stretch_description/urdf/stretch_wrist_USB_board_camera.xacro b/stretch_description/urdf/stretch_wrist_USB_board_camera.xacro
new file mode 100644
index 0000000..0510657
--- /dev/null
+++ b/stretch_description/urdf/stretch_wrist_USB_board_camera.xacro
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_wrist_USB_board_camera">
+
+  <xacro:property name="scale_finger_length" value="0.9" />
+
+<link
+    name="link_wrist_USB_board_camera">
+    <inertial>
+      <origin
+        xyz="1.28641098051663E-08 0.00459852852026477 -0.0123272098755484"
+        rpy="0 0 0" />
+      <mass
+        value="0.0301073591682589" />
+      <inertia
+        ixx="2.69187384806562E-06"
+        ixy="2.29933560827364E-12"
+        ixz="8.83055990248015E-12"
+        iyy="2.10702196845637E-06"
+        iyz="-7.34986313770783E-07"
+        izz="5.84851879864893E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_wrist_USB_board_camera.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_wrist_USB_board_camera.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_wrist_USB_board_camera"
+    type="fixed">
+    <origin
+      xyz="0 0.0123999999999988 -0.0800000000000089"
+      rpy="1.5707963267949 3.39210189245035E-29 -3.141592653589793" />
+    <parent
+      link="link_wrist_yaw" />
+    <child
+      link="link_wrist_USB_board_camera" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+</robot>
+