diff --git a/stretch_description/batch/prince/meshes/base_imu.STL b/stretch_description/batch/prince/meshes/base_imu.STL
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index 0000000..1422db0
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diff --git a/stretch_description/batch/prince/meshes/base_link.STL b/stretch_description/batch/prince/meshes/base_link.STL
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index 0000000..8a33531
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diff --git a/stretch_description/batch/prince/meshes/laser.STL b/stretch_description/batch/prince/meshes/laser.STL
new file mode 100644
index 0000000..5646371
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diff --git a/stretch_description/batch/prince/meshes/link_arm_l0.STL b/stretch_description/batch/prince/meshes/link_arm_l0.STL
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index 0000000..c09a843
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diff --git a/stretch_description/batch/prince/meshes/link_arm_l1.STL b/stretch_description/batch/prince/meshes/link_arm_l1.STL
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index 0000000..68d6383
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diff --git a/stretch_description/batch/prince/meshes/link_arm_l2.STL b/stretch_description/batch/prince/meshes/link_arm_l2.STL
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index 0000000..9cef8b0
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diff --git a/stretch_description/batch/prince/meshes/link_arm_l3.STL b/stretch_description/batch/prince/meshes/link_arm_l3.STL
new file mode 100644
index 0000000..e45e5d3
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diff --git a/stretch_description/batch/prince/meshes/link_arm_l4.STL b/stretch_description/batch/prince/meshes/link_arm_l4.STL
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index 0000000..1a547ec
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diff --git a/stretch_description/batch/prince/meshes/link_aruco_inner_wrist.STL b/stretch_description/batch/prince/meshes/link_aruco_inner_wrist.STL
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index 0000000..613a5d3
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diff --git a/stretch_description/batch/prince/meshes/link_aruco_left_base.STL b/stretch_description/batch/prince/meshes/link_aruco_left_base.STL
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index 0000000..109749c
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diff --git a/stretch_description/batch/prince/meshes/link_aruco_right_base.STL b/stretch_description/batch/prince/meshes/link_aruco_right_base.STL
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index 0000000..0894866
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diff --git a/stretch_description/batch/prince/meshes/link_aruco_shoulder.STL b/stretch_description/batch/prince/meshes/link_aruco_shoulder.STL
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index 0000000..59134c7
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diff --git a/stretch_description/batch/prince/meshes/link_aruco_top_wrist.STL b/stretch_description/batch/prince/meshes/link_aruco_top_wrist.STL
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index 0000000..5748893
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diff --git a/stretch_description/batch/prince/meshes/link_camera.STL b/stretch_description/batch/prince/meshes/link_camera.STL
new file mode 100644
index 0000000..e257ea9
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diff --git a/stretch_description/batch/prince/meshes/link_dry_erase_holder.STL b/stretch_description/batch/prince/meshes/link_dry_erase_holder.STL
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index 0000000..a123087
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diff --git a/stretch_description/batch/prince/meshes/link_dry_erase_marker.STL b/stretch_description/batch/prince/meshes/link_dry_erase_marker.STL
new file mode 100644
index 0000000..5929498
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diff --git a/stretch_description/batch/prince/meshes/link_gripper.STL b/stretch_description/batch/prince/meshes/link_gripper.STL
new file mode 100644
index 0000000..5b64977
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diff --git a/stretch_description/batch/prince/meshes/link_gripper_finger_left.STL b/stretch_description/batch/prince/meshes/link_gripper_finger_left.STL
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index 0000000..3da0e91
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diff --git a/stretch_description/batch/prince/meshes/link_gripper_finger_right.STL b/stretch_description/batch/prince/meshes/link_gripper_finger_right.STL
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index 0000000..7a6ac10
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diff --git a/stretch_description/batch/prince/meshes/link_gripper_fingertip_left.STL b/stretch_description/batch/prince/meshes/link_gripper_fingertip_left.STL
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index 0000000..58b5e22
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diff --git a/stretch_description/batch/prince/meshes/link_gripper_fingertip_right.STL b/stretch_description/batch/prince/meshes/link_gripper_fingertip_right.STL
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index 0000000..022eff8
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diff --git a/stretch_description/batch/prince/meshes/link_head.STL b/stretch_description/batch/prince/meshes/link_head.STL
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index 0000000..8373521
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diff --git a/stretch_description/batch/prince/meshes/link_head_pan.STL b/stretch_description/batch/prince/meshes/link_head_pan.STL
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index 0000000..04ea7f9
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diff --git a/stretch_description/batch/prince/meshes/link_head_tilt.STL b/stretch_description/batch/prince/meshes/link_head_tilt.STL
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index 0000000..4ba7edc
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diff --git a/stretch_description/batch/prince/meshes/link_left_wheel.STL b/stretch_description/batch/prince/meshes/link_left_wheel.STL
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index 0000000..d0412b9
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diff --git a/stretch_description/batch/prince/meshes/link_lift.STL b/stretch_description/batch/prince/meshes/link_lift.STL
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index 0000000..2b19885
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diff --git a/stretch_description/batch/prince/meshes/link_mast.STL b/stretch_description/batch/prince/meshes/link_mast.STL
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index 0000000..87cbc61
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diff --git a/stretch_description/batch/prince/meshes/link_puller.STL b/stretch_description/batch/prince/meshes/link_puller.STL
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index 0000000..33dd044
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diff --git a/stretch_description/batch/prince/meshes/link_respeaker.STL b/stretch_description/batch/prince/meshes/link_respeaker.STL
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index 0000000..34ba67f
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diff --git a/stretch_description/batch/prince/meshes/link_right_wheel.STL b/stretch_description/batch/prince/meshes/link_right_wheel.STL
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index 0000000..676298a
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diff --git a/stretch_description/batch/prince/meshes/link_wrist_yaw.STL b/stretch_description/batch/prince/meshes/link_wrist_yaw.STL
new file mode 100644
index 0000000..50cf4b9
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diff --git a/stretch_description/batch/prince/meshes/omni_wheel_m.STL b/stretch_description/batch/prince/meshes/omni_wheel_m.STL
new file mode 100644
index 0000000..19d2bb8
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diff --git a/stretch_description/batch/prince/meshes/respeaker_base.STL b/stretch_description/batch/prince/meshes/respeaker_base.STL
new file mode 100644
index 0000000..f681199
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diff --git a/stretch_description/batch/prince/urdf/stretch_aruco.xacro b/stretch_description/batch/prince/urdf/stretch_aruco.xacro
new file mode 100644
index 0000000..48bb565
--- /dev/null
+++ b/stretch_description/batch/prince/urdf/stretch_aruco.xacro
@@ -0,0 +1,283 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_aruco">
+
+  <link
+    name="link_aruco_right_base">
+    <inertial>
+      <origin
+        xyz="1.3878E-17 0 -0.000125"
+        rpy="0 0 0" />
+      <mass
+        value="3.59999999990368E-06" />
+      <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_aruco_right_base.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_aruco_right_base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_aruco_right_base"
+    type="fixed">
+    <origin
+      xyz="-0.0015028 -0.1304972 0.1597482"
+      rpy="0 0 -1.5707963267949" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_aruco_right_base" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  
+  <link
+    name="link_aruco_left_base">
+    <inertial>
+      <origin
+        xyz="2.7756E-17 0 -0.000125"
+        rpy="0 0 0" />
+      <mass
+        value="3.59999999990368E-06" />
+      <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_aruco_left_base.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_aruco_left_base.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_aruco_left_base"
+    type="fixed">
+    <origin
+      xyz="-0.00500000000000014 0.1304972 0.1597482"
+      rpy="0 0 -1.5707963267949" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_aruco_left_base" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link
+    name="link_aruco_shoulder">
+    <inertial>
+      <origin
+        xyz="-2.77555756156289E-17 2.56739074444567E-16 -0.000125000000000042"
+        rpy="0 0 0" />
+      <mass
+        value="0" />
+      <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_aruco_shoulder.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_aruco_shoulder.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_aruco_shoulder"
+    type="fixed">
+    <origin
+      xyz="-0.0133768876375287 0.0558540528812078 0.0861368272417975"
+      rpy="-1.53998860117704E-29 3.55962409571165E-15 0.0" />
+    <parent
+      link="link_lift" />
+    <child
+      link="link_aruco_shoulder" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  <link
+    name="link_aruco_top_wrist">
+    <inertial>
+      <origin
+        xyz="-1.3531E-15 -3.4972E-15 -0.000125"
+        rpy="0 0 0" />
+      <mass
+        value="0" />
+      <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_aruco_top_wrist.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_aruco_top_wrist.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_aruco_top_wrist"
+    type="fixed">
+    <origin
+      xyz="0.0472500000000019 0.0292850000000015 0"
+      rpy="1.5707963267949 -8.03728587323464E-15 3.14159265358979" />
+    <parent
+      link="link_arm_l0" />
+    <child
+      link="link_aruco_top_wrist" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  <link
+    name="link_aruco_inner_wrist">
+    <inertial>
+      <origin
+        xyz="8.32667268468867E-17 1.77635683940025E-15 -0.000125000000000264"
+        rpy="0 0 0" />
+      <mass
+        value="0" />
+      <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_aruco_inner_wrist.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_aruco_inner_wrist.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_aruco_inner_wrist"
+    type="fixed">
+    <origin
+      xyz="0.0472499999999947 -0.0119000000000034 -0.0272499999991938"
+      rpy="3.14159265358979 4.23377442363088E-14 3.14159265358979" />
+    <parent
+      link="link_arm_l0" />
+    <child
+      link="link_aruco_inner_wrist" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+</robot>
+
+  
+
diff --git a/stretch_description/batch/prince/urdf/stretch_base_imu.xacro b/stretch_description/batch/prince/urdf/stretch_base_imu.xacro
new file mode 100644
index 0000000..5616676
--- /dev/null
+++ b/stretch_description/batch/prince/urdf/stretch_base_imu.xacro
@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_base_imu">
+
+<link
+    name="base_imu">
+    <inertial>
+      <origin
+        xyz="0.00300349280517617 0.00149777182047641 -0.00193103885249443"
+        rpy="0 0 0" />
+      <mass
+        value="0.000901473198307758" />
+      <inertia
+        ixx="2.83324000746358E-08"
+        ixy="-2.10106175504755E-10"
+        ixz="1.86717014516205E-10"
+        iyy="5.35315990744214E-08"
+        iyz="9.31114208976591E-11"
+        izz="8.13221670783358E-08" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/base_imu.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0 0.772549019607843 0.207843137254902 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/base_imu.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_base_imu"
+    type="fixed">
+    <origin
+      xyz="-0.12838 0.0031592 0.1474"
+      rpy="-3.1416 0 -1.5708" />
+    <parent
+      link="base_link" />
+    <child
+      link="base_imu" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+</robot>
+
+
+
diff --git a/stretch_description/batch/prince/urdf/stretch_d435i.xacro b/stretch_description/batch/prince/urdf/stretch_d435i.xacro
new file mode 100644
index 0000000..167383d
--- /dev/null
+++ b/stretch_description/batch/prince/urdf/stretch_d435i.xacro
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_d435i">
+
+  <xacro:arg name="use_nominal_extrinsics" default="true"/>
+  <xacro:arg name="add_plug" default="false"/>
+  <xacro:include filename="$(find realsense2_description)/urdf/_d435i.urdf.xacro"/>
+
+  <!-- xyz = "
+       depth (- recessed into head / + protruding from front)
+       up and down (- down / + up)
+       sideways (- right / + left)
+       " -->
+  <xacro:sensor_d435i parent="link_head_tilt" use_nominal_extrinsics="$(arg use_nominal_extrinsics)">
+    <origin
+      xyz="0.03 -0.0122 0.0182"
+      rpy="0.0 0.0 0.0" />
+  </xacro:sensor_d435i>
+
+  
+</robot>
+
+  
+
diff --git a/stretch_description/batch/prince/urdf/stretch_description_dex.xacro b/stretch_description/batch/prince/urdf/stretch_description_dex.xacro
new file mode 100644
index 0000000..3d2ace7
--- /dev/null
+++ b/stretch_description/batch/prince/urdf/stretch_description_dex.xacro
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_description">
+
+  <xacro:include filename="stretch_dex_wrist.xacro" />
+  <!--<xacro:include filename="stretch_gripper.xacro" /> -->
+  <!--<xacro:include filename="stretch_gripper_with_puller.xacro" />-->
+  <!--<xacro:include filename="stretch_dry_erase_marker.xacro" />-->
+    
+  <xacro:include filename="stretch_main.xacro" />
+  <xacro:include filename="stretch_aruco.xacro" />
+  <xacro:include filename="stretch_d435i.xacro" />
+  <xacro:include filename="stretch_laser_range_finder.xacro" />
+  <xacro:include filename="stretch_base_imu.xacro" />
+  <xacro:include filename="stretch_respeaker.xacro" />
+
+</robot>
diff --git a/stretch_description/batch/prince/urdf/stretch_description_standard.xacro b/stretch_description/batch/prince/urdf/stretch_description_standard.xacro
new file mode 100644
index 0000000..88aa967
--- /dev/null
+++ b/stretch_description/batch/prince/urdf/stretch_description_standard.xacro
@@ -0,0 +1,16 @@
+<?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.xacro" /> -->
+  <!--<xacro:include filename="stretch_gripper_with_puller.xacro" />-->
+  <!--<xacro:include filename="stretch_dry_erase_marker.xacro" />-->
+    
+  <xacro:include filename="stretch_main.xacro" />
+  <xacro:include filename="stretch_aruco.xacro" />
+  <xacro:include filename="stretch_d435i.xacro" />
+  <xacro:include filename="stretch_laser_range_finder.xacro" />
+  <xacro:include filename="stretch_base_imu.xacro" />
+  <xacro:include filename="stretch_respeaker.xacro" />
+
+</robot>
diff --git a/stretch_description/batch/prince/urdf/stretch_dry_erase_marker.xacro b/stretch_description/batch/prince/urdf/stretch_dry_erase_marker.xacro
new file mode 100644
index 0000000..de1e234
--- /dev/null
+++ b/stretch_description/batch/prince/urdf/stretch_dry_erase_marker.xacro
@@ -0,0 +1,133 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_dry_erase_marker">
+
+  <xacro:property name="scale_finger_length" value="0.9" />
+
+    <link
+    name="link_dry_erase_holder">
+    <inertial>
+      <origin
+        xyz="-0.00033908527678797 -4.72017042119077E-09 0.0177808576938317"
+        rpy="0 0 0" />
+      <mass
+        value="0.0347079059161226" />
+      <inertia
+        ixx="7.67214948728222E-06"
+        ixy="-8.06855261037992E-08"
+        ixz="1.26219371489433E-07"
+        iyy="7.63827740251564E-06"
+        iyz="9.35838075307735E-08"
+        izz="1.65327256645883E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_dry_erase_holder.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_dry_erase_holder.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_dry_erase_holder"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.038"
+      rpy="-3.1416 -2.5445E-16 4.71238898038469" />
+    <parent
+      link="link_wrist_yaw" />
+    <child
+      link="link_dry_erase_holder" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link
+    name="link_dry_erase_marker">
+    <inertial>
+      <origin
+        xyz="0.108173292344959 -2.76023830181327E-08 -0.000137755476015355"
+        rpy="0 0 0" />
+      <mass
+        value="0.00715580304305244" />
+      <inertia
+        ixx="3.95174478409412E-08"
+        ixy="2.65904489437298E-17"
+        ixz="1.33089367561534E-13"
+        iyy="3.95174462639471E-08"
+        iyz="-7.8953462362072E-12"
+        izz="1.57789054873579E-15" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_dry_erase_marker.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_dry_erase_marker.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_dry_erase_marker"
+    type="fixed">
+    <origin
+      xyz="-0.081029 0 0.025418"
+      rpy="-4.8183E-17 -2.5445E-16 -2.1228E-28" />
+    <parent
+      link="link_dry_erase_holder" />
+    <child
+      link="link_dry_erase_marker" />
+    <axis
+      xyz="1 0 0" />
+  </joint>
+  
+  <link
+      name="link_dry_erase_tip">
+  </link>
+  
+  <joint
+    name="joint_dry_erase_tip"
+    type="fixed">
+    <origin
+      xyz="0.005 0 0"
+      rpy="0 0 1.5707963267948966" />
+    <parent
+      link="link_dry_erase_marker" />
+    <child
+      link="link_dry_erase_tip" />
+  </joint>
+  
+  
+</robot>
+
+  
+
diff --git a/stretch_description/batch/prince/urdf/stretch_gripper.xacro b/stretch_description/batch/prince/urdf/stretch_gripper.xacro
new file mode 100644
index 0000000..03acc68
--- /dev/null
+++ b/stretch_description/batch/prince/urdf/stretch_gripper.xacro
@@ -0,0 +1,302 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_gripper">
+
+  <xacro:property name="scale_finger_length" value="0.9" />
+
+  <link
+    name="link_gripper">
+    <inertial>
+      <origin
+        xyz="-0.0170229132730066 0.0131410320934285 -0.0371614759484659"
+        rpy="0 0 0" />
+      <mass
+        value="0.101902711393094" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_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_gripper.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- rpy="3.1416 0 1.5708" -->
+  <!-- rpy="0.0 0 1.5708" -->
+  <joint
+    name="joint_gripper"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="3.14159 0 -1.5708" />
+    <parent
+      link="link_wrist_yaw" />
+    <child
+      link="link_gripper" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link
+    name="link_gripper_finger_left">
+    <inertial>
+      <origin
+        xyz="0.0945047483510102 0.0124301080924361 -4.44089209850063E-16"
+        rpy="0 0 0" />
+      <mass
+        value="0.0476207785199474" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_finger_left"
+    type="revolute">
+    <origin
+      xyz="-0.047231 -0.010151 -0.04679"
+      rpy="2.1762E-15 0.5236 3.1416" />
+    <parent
+      link="link_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="-3.16381381648689E-08 -2.91408530639359E-09 0.00812579670381812"
+        rpy="0 0 0" />
+      <mass
+        value="0.00382159917455729" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </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="${scale_finger_length * 0.19011} 0.014912 0"
+      rpy="-1.5708 -4.774E-15 -2.5545" />
+    <parent
+      link="link_gripper_finger_left" />
+    <child
+      link="link_gripper_fingertip_left" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link
+    name="link_gripper_finger_right">
+    <inertial>
+      <origin
+        xyz="-0.0945047483510099 -0.0124301080924345 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.0476207785199481" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_right.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </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_gripper_finger_right.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_finger_right"
+    type="revolute">
+    <origin
+      xyz="-0.047231 0.010049 -0.04679"
+      rpy="3.1416 -0.5236 1.2943E-15" />
+    <parent
+      link="link_gripper" />
+    <child
+      link="link_gripper_finger_right" />
+    <axis
+      xyz="0 0 1" />
+    <limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_gripper_fingertip_right">
+    <inertial>
+      <origin
+        xyz="2.59386303963494E-08 6.70949018566347E-09 0.00812579516130402"
+        rpy="0 0 0" />
+      <mass
+        value="0.00382160037319545" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_fingertip_right"
+    type="fixed">
+    <origin
+      xyz="${scale_finger_length * -0.19011} -0.014912 0"
+      rpy="-1.5708 -2.0539E-15 0.58705" />
+    <parent
+      link="link_gripper_finger_right" />
+    <child
+      link="link_gripper_fingertip_right" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  
+  <link
+      name="link_grasp_center">
+  </link>
+  
+  <joint
+    name="joint_grasp_center"
+    type="fixed">
+    <origin
+      xyz="-0.205478 0 -0.138154"
+      rpy="0 0 3.141579" />
+    <parent
+      link="link_gripper" />
+    <child
+      link="link_grasp_center" />
+  </joint>
+  
+</robot>
diff --git a/stretch_description/batch/prince/urdf/stretch_gripper_with_puller.xacro b/stretch_description/batch/prince/urdf/stretch_gripper_with_puller.xacro
new file mode 100644
index 0000000..c3e9ecf
--- /dev/null
+++ b/stretch_description/batch/prince/urdf/stretch_gripper_with_puller.xacro
@@ -0,0 +1,359 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_gripper_with_puller">
+
+  <xacro:property name="scale_finger_length" value="0.9" />
+
+  <link
+    name="link_gripper">
+    <inertial>
+      <origin
+        xyz="-0.0170229132730066 0.0131410320934285 -0.0371614759484659"
+        rpy="0 0 0" />
+      <mass
+        value="0.101902711393094" />
+      <inertia
+        ixx="2.79241618017607E-05"
+        ixy="-1.10819247449605E-05"
+        ixz="-1.50343284036654E-05"
+        iyy="3.67945130513069E-05"
+        iyz="-4.33280448535579E-06"
+        izz="4.14524691955231E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_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_gripper.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- rpy="3.1416 0 1.5708" -->
+  <!-- rpy="0.0 0 1.5708" -->
+  <joint
+    name="joint_gripper"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="3.14159 0 -1.5708" />
+    <parent
+      link="link_wrist_yaw" />
+    <child
+      link="link_gripper" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+    <link
+    name="link_puller">
+    <inertial>
+      <origin
+        xyz="-7.28171145880641E-08 -0.00602531629961259 -7.69536139810789E-08"
+        rpy="0 0 0" />
+      <mass
+        value="0.00292784355893436" />
+      <inertia
+        ixx="1.09317111513898E-07"
+        ixy="-9.31929125413026E-13"
+        ixz="-3.36065188387015E-16"
+        iyy="1.10835075609816E-15"
+        iyz="1.43669784789342E-12"
+        izz="1.09317110675672E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_puller.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_puller.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint_puller"
+    type="fixed">
+    <origin
+      xyz="0 0.07265 -0.0335"
+      rpy="4.2817E-15 1.1582E-14 -3.0531E-15" />
+    <parent
+      link="link_gripper" />
+    <child
+      link="link_puller" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link
+    name="link_gripper_finger_left">
+    <inertial>
+      <origin
+        xyz="0.0945047483510102 0.0124301080924361 -4.44089209850063E-16"
+        rpy="0 0 0" />
+      <mass
+        value="0.0476207785199474" />
+      <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_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_left.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_finger_left"
+    type="revolute">
+    <origin
+      xyz="-0.047231 -0.010151 -0.04679"
+      rpy="2.1762E-15 0.5236 3.1416" />
+    <parent
+      link="link_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="-3.16381381648689E-08 -2.91408530639359E-09 0.00812579670381812"
+        rpy="0 0 0" />
+      <mass
+        value="0.00382159917455729" />
+      <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="${scale_finger_length * 0.19011} 0.014912 0"
+      rpy="-1.5708 -4.774E-15 -2.5545" />
+    <parent
+      link="link_gripper_finger_left" />
+    <child
+      link="link_gripper_fingertip_left" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+  <link
+    name="link_gripper_finger_right">
+    <inertial>
+      <origin
+        xyz="-0.0945047483510099 -0.0124301080924345 0"
+        rpy="0 0 0" />
+      <mass
+        value="0.0476207785199481" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_finger_right.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </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_gripper_finger_right.STL" scale="${scale_finger_length} 1.0 1.0"/>
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_finger_right"
+    type="revolute">
+    <origin
+      xyz="-0.047231 0.010049 -0.04679"
+      rpy="3.1416 -0.5236 1.2943E-15" />
+    <parent
+      link="link_gripper" />
+    <child
+      link="link_gripper_finger_right" />
+    <axis
+      xyz="0 0 1" />
+    <limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
+  </joint>
+  
+  <link
+    name="link_gripper_fingertip_right">
+    <inertial>
+      <origin
+        xyz="2.59386303963494E-08 6.70949018566347E-09 0.00812579516130402"
+        rpy="0 0 0" />
+      <mass
+        value="0.00382160037319545" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.250980392156863 0.250980392156863 0.250980392156863 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_gripper_fingertip_right.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_gripper_fingertip_right"
+    type="fixed">
+    <origin
+      xyz="${scale_finger_length * -0.19011} -0.014912 0"
+      rpy="-1.5708 -2.0539E-15 0.58705" />
+    <parent
+      link="link_gripper_finger_right" />
+    <child
+      link="link_gripper_fingertip_right" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  
+  <link
+      name="link_grasp_center">
+  </link>
+  
+  <joint
+    name="joint_grasp_center"
+    type="fixed">
+    <origin
+      xyz="-0.205478 0 -0.138154"
+      rpy="0 0 3.141579" />
+    <parent
+      link="link_gripper" />
+    <child
+      link="link_grasp_center" />
+  </joint>
+  
+</robot>
+
+  
+
diff --git a/stretch_description/batch/prince/urdf/stretch_laser_range_finder.xacro b/stretch_description/batch/prince/urdf/stretch_laser_range_finder.xacro
new file mode 100644
index 0000000..bc89ffd
--- /dev/null
+++ b/stretch_description/batch/prince/urdf/stretch_laser_range_finder.xacro
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_laser_range_finder">
+  
+  <link
+    name="laser">
+    <inertial>
+      <origin
+        xyz="0 0 -0.000755956127492408"
+        rpy="0 0 0" />
+      <mass
+        value="0.0749979022894495" />
+      <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/laser.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/laser.STL" />
+      </geometry>
+    </collision>
+  </link>
+  
+  <joint
+    name="joint_laser"
+    type="fixed">
+    <origin
+      xyz="0.004 0 0.1664"
+      rpy="0 0 3.1416" />
+    <parent
+      link="base_link" />
+    <child
+      link="laser" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+</robot>
diff --git a/stretch_description/batch/prince/urdf/stretch_main.xacro b/stretch_description/batch/prince/urdf/stretch_main.xacro
new file mode 100644
index 0000000..f4faea6
--- /dev/null
+++ b/stretch_description/batch/prince/urdf/stretch_main.xacro
@@ -0,0 +1,841 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_main">
+  <xacro:property name="M_PI" value="3.1415926535897931" />
+  <xacro:property name="joint_damping" value="21.75"/>
+  <xacro:property name="joint_friction" value="10.48"/>
+  <xacro:property name="joint_spring_stiffness" value="0"/>
+  <xacro:property name="joint_spring_reference" value="0"/>
+
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.11587 0.0019426 0.093621"
+        rpy="0 0 0" />
+      <mass
+        value="1.1912" />
+      <inertia
+        ixx="0.0034667"
+        ixy="-5.0568E-06"
+        ixz="0.00042861"
+        iyy="0.0052744"
+        iyz="-5.766E-05"
+        izz="0.0047945" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/base_link.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/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link
+    name="link_right_wheel">
+    <inertial>
+      <origin
+        xyz="1.1719E-11 2.0783E-11 0.037544"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042721" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_right_wheel.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_right_wheel.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_right_wheel"
+    type="continuous">
+    <origin
+      xyz="0 -0.17035 0.0508"
+      rpy="-1.5708 1.2717E-16 4.8006E-17" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_right_wheel" />
+    <axis
+      xyz="0 0 1" />
+    <dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="${joint_spring_stiffness}"/>
+  </joint>
+
+  <link
+    name="link_left_wheel">
+    <inertial>
+      <origin
+        xyz="-2.0783E-11 -1.1719E-11 -0.037544"
+        rpy="0 0 0" />
+      <mass
+        value="0.0042721" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_left_wheel.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_left_wheel.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_left_wheel"
+    type="continuous">
+    <origin
+      xyz="0 0.17035 0.0508"
+      rpy="-1.5708 2.6317E-16 -8.2057E-19" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_left_wheel" />
+    <axis
+      xyz="0 0 1" />
+    <dynamics damping="${joint_damping}" friction="${joint_friction}" spring_reference="${joint_spring_reference}" spring_stiffness="${joint_spring_stiffness}"/>
+  </joint>
+
+  <link name="caster_link">
+    <collision>
+      <geometry>
+        <sphere radius="0.032"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <surface>
+        <friction>
+          <ode>
+            <mu>0</mu>
+            <mu2>0</mu2>
+            <slip1>1.0</slip1>
+            <slip2>1.0</slip2>
+          </ode>
+        </friction>
+      </surface>
+    </collision>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/omni_wheel_m.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <inertial>
+      <mass value="0.01" />
+      <origin xyz="0 0 0" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+  </link>
+
+  <joint name="caster_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="caster_link"/>
+    <origin xyz="-0.245 0.0 0.032" rpy="${-M_PI/2} 0 0"/>
+    <axis xyz="0 0 1" />
+  </joint>
+
+  <link
+    name="link_mast">
+    <inertial>
+      <origin
+        xyz="2.0817E-17 0.7075 -2.7756E-17"
+        rpy="0 0 0" />
+      <mass
+        value="1.8285" />
+      <inertia
+        ixx="0.0709854511954588"
+        ixy="-0.00433428742758457"
+        ixz="-0.000186110788697573"
+        iyy="0.000437922053342648"
+        iyz="-0.00288788257713431"
+        izz="0.071104808501661" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_mast.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_mast.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_mast"
+    type="fixed">
+    <origin
+      xyz="-0.067 0.135 0.0284"
+      rpy="1.5708 0 4.8006E-17" />
+    <parent
+      link="base_link" />
+    <child
+      link="link_mast" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  <link
+    name="link_lift">
+    <inertial>
+      <origin
+        xyz="-0.031727 0.038403 0.013361"
+        rpy="0 0 0" />
+      <mass
+        value="0.27218" />
+      <inertia
+        ixx="0.00052571"
+        ixy="0.00014899"
+        ixz="-1.9258E-05"
+        iyy="0.00030679"
+        iyz="-6.2451E-06"
+        izz="0.00037324" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_lift.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_lift.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_lift"
+    type="prismatic">
+    <origin
+      xyz="-0.037385 0.1666 0"
+      rpy="-1.5708 1.5708 0" />
+    <parent
+      link="link_mast" />
+    <child
+      link="link_lift" />
+    <axis
+      xyz="0 0 1" />
+  <!-- for now hand copied range_m from lift from ~/repos/stretch_fleet/stretch-re1-1001/stretch_re1_factory_params.yaml -->
+  <!--<limit effort="100" lower="0.0" upper="1.095" velocity="1.0"/>-->
+  <!-- copied value did not reach the top of mesh model with GUI sliders and RViz -->
+  <limit effort="100" lower="0.0" upper="1.1" velocity="1.0"/>
+  </joint>
+
+  <link
+    name="link_arm_l4">
+    <inertial>
+      <origin
+        xyz="-1.0146E-06 -1.9719E-05 -0.094738"
+        rpy="0 0 0" />
+      <mass
+        value="0.068095" />
+      <inertia
+        ixx="0.0001256"
+        ixy="-5.6914E-12"
+        ixz="6.0647E-09"
+        iyy="0.0001256"
+        iyz="1.1787E-07"
+        izz="1.1091E-10" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l4.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_arm_l4.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_arm_l4"
+    type="fixed">
+    <origin
+      xyz="-0.2547 0 0"
+      rpy="1.5708 2.4721E-15 -1.5708" />
+    <parent
+      link="link_lift" />
+    <child
+      link="link_arm_l4" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  <link
+    name="link_arm_l3">
+    <inertial>
+      <origin
+        xyz="-5.13853606326845E-07 -1.99844969271112E-05 -0.0971104963726614"
+        rpy="0 0 0" />
+      <mass
+        value="0.0628927381893134" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l3.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_arm_l3.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_arm_l3"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.013"
+      rpy="7.68831233799385E-30 2.36716479416092E-30 2.29652732251143E-17" />
+    <parent
+      link="link_arm_l4" />
+    <child
+      link="link_arm_l3" />
+    <axis
+      xyz="0 0 1" />
+    <!-- 0.13 = 0.52/4-->
+    <limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
+  </joint>
+
+  <link
+    name="link_arm_l2">
+    <inertial>
+      <origin
+        xyz="-5.17421949435687E-07 -2.02045301450349E-05 -0.0968815475684904"
+        rpy="0 0 0" />
+      <mass
+        value="0.0571386353275368" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l2.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_arm_l2.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_arm_l2"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.013"
+      rpy="0 1.57655765344625E-30 -1.66533453693773E-16" />
+    <parent
+      link="link_arm_l3" />
+    <child
+      link="link_arm_l2" />
+    <axis
+      xyz="0 0 1" />
+    <!-- 0.13 = 0.52/4-->
+    <limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
+  </joint>
+
+  <link
+    name="link_arm_l1">
+    <inertial>
+      <origin
+        xyz="-5.257E-07 -2.0482E-05 -0.096543"
+        rpy="0 0 0" />
+      <mass
+        value="0.051382" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l1.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_arm_l1.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_arm_l1"
+    type="prismatic">
+    <origin
+      xyz="0 0 0.0129999999999981"
+      rpy="-7.63746778746202E-30 -7.88860905221012E-31 1.11022302462516E-16" />
+    <parent
+      link="link_arm_l2" />
+    <child
+      link="link_arm_l1" />
+    <axis
+      xyz="0 0 1" />
+    <!-- 0.13 = 0.52/4-->
+    <limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
+  </joint>
+
+  <link
+    name="link_arm_l0">
+    <inertial>
+      <origin
+        xyz="0.0270582141286185 -0.00189876414654466 -0.0377809018481181"
+        rpy="0 0 0" />
+      <mass
+        value="0.085003260946398" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_arm_l0.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_arm_l0.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_arm_l0"
+    type="prismatic">
+    <origin
+      xyz="0 0 -0.0137499999991968"
+      rpy="7.63746778746202E-30 -3.80121128864402E-15 2.62707547767438E-15" />
+    <parent
+      link="link_arm_l1" />
+    <child
+      link="link_arm_l0" />
+    <axis
+      xyz="0 0 1" />
+    <!-- 0.13 = 0.52/4-->
+    <limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
+  </joint>
+
+  <link
+    name="link_wrist_yaw">
+    <inertial>
+      <origin
+        xyz="2.20122392535771E-11 2.9317167880849E-05 -0.018966592644729"
+        rpy="0 0 0" />
+      <mass
+        value="0.0404746907425003" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_wrist_yaw.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_wrist_yaw.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_wrist_yaw"
+    type="revolute">
+    <origin
+      xyz="0.0830000000000654 -0.0307500000000129 0"
+      rpy="1.5708 4.2595E-14 2.6415E-15"/>
+    <parent
+      link="link_arm_l0" />
+    <child
+      link="link_wrist_yaw" />
+    <axis
+      xyz="0 0 -1" />
+    <!--
+      stowed to front ~225 deg, 3.15159 x 1.25 = 3.9395
+      using 4.0
+      stowed to back ~100 deg, 100 / 180 x 3.14159 = 1.7453
+      using -1.75
+    -->
+    <limit effort="100" lower="-1.75" upper="4.0" velocity="1.0"/>
+  </joint>
+
+  <link
+    name="link_head">
+    <inertial>
+      <origin
+        xyz="0.0406850995527703 0.0396956343318414 0.0226500246461012"
+        rpy="0 0 0" />
+      <mass
+        value="0.133027236718691" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_head.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_head.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_head"
+    type="fixed">
+    <origin
+      xyz="0 1.33 0"
+      rpy="1.5707963267949 -1.5707963267949 3.1416" />
+    <parent
+      link="link_mast" />
+    <child
+      link="link_head" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+
+  <link
+    name="link_head_pan">
+    <inertial>
+      <origin
+        xyz="-0.000326562615178591 0.00850012613776489 0.000130487222982367"
+        rpy="0 0 0" />
+      <mass
+        value="0.0273764496535409" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_head_pan.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_head_pan.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_head_pan"
+    type="revolute">
+    <origin
+      xyz="0.135 0.0731000000000001 -0.00319621125547975"
+      rpy="0 0 1.5707963267949" />
+    <parent
+      link="link_head" />
+    <child
+      link="link_head_pan" />
+    <axis
+      xyz="0 0 1" />
+    <!-- unconstrained range for now -->
+    <limit effort="100" lower="-3.9" upper="1.5" velocity="1.0"/>
+  </joint>
+
+  <link
+    name="link_head_tilt">
+    <inertial>
+      <origin
+        xyz="0.00704566394917504 -0.0212256210929691 0.0302058990060359"
+        rpy="0 0 0" />
+      <mass
+        value="0.090217113313934" />
+      <inertia
+        ixx="0.001"
+        ixy="0"
+        ixz="0"
+        iyy="0.001"
+        iyz="0"
+        izz="0.001" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/link_head_tilt.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_head_tilt.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_head_tilt"
+    type="revolute">
+    <origin
+      xyz="-0.00130000001785262 0.0277624999926072 -0.0533107920897029"
+      rpy="1.5707963267949 3.36459255518345E-15 -8.42914893687103E-17" />
+    <parent
+      link="link_head_pan" />
+    <child
+      link="link_head_tilt" />
+    <axis
+      xyz="0 0 1" />
+    <!-- unconstrained range for now -->
+    <limit effort="100" lower="-1.53" upper="0.79" velocity="1.0"/>
+  </joint>
+
+</robot>
\ No newline at end of file
diff --git a/stretch_description/batch/prince/urdf/stretch_respeaker.xacro b/stretch_description/batch/prince/urdf/stretch_respeaker.xacro
new file mode 100644
index 0000000..120d9ee
--- /dev/null
+++ b/stretch_description/batch/prince/urdf/stretch_respeaker.xacro
@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_respeaker">
+
+  <link
+    name="respeaker_base">
+    <inertial>
+      <origin
+        xyz="-0.003809 -0.0023075 -0.012854"
+        rpy="0 0 0" />
+      <mass
+        value="0.015643" />
+      <inertia
+        ixx="1.0075E-06"
+        ixy="-5.4396E-08"
+        ixz="-2.8652E-07"
+        iyy="1.0569E-06"
+        iyz="-1.8463E-07"
+        izz="1.1947E-07" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://stretch_description/meshes/respeaker_base.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/respeaker_base.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="joint_respeaker"
+    type="fixed">
+    <origin
+      xyz="0 1.37236408874452 0.00303065898329655"
+      rpy="-1.5707963267949 -0.698131700797725 4.93295812652799E-16" />
+    <parent
+      link="link_mast" />
+    <child
+      link="respeaker_base" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  
+</robot>
+
+  
+