diff --git a/stretch_description/meshes/guthrie/base_link.STL b/stretch_description/meshes/guthrie/base_link.STL
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diff --git a/stretch_description/meshes/hank/link_head.STL b/stretch_description/meshes/hank/link_head.STL
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diff --git a/stretch_description/meshes/hank/link_head_tilt.STL b/stretch_description/meshes/hank/link_head_tilt.STL
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diff --git a/stretch_description/meshes/hank/link_respeaker.STL b/stretch_description/meshes/hank/link_respeaker.STL
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diff --git a/stretch_description/meshes/hank/link_right_wheel.STL b/stretch_description/meshes/hank/link_right_wheel.STL
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diff --git a/stretch_description/meshes/hank/link_wrist_yaw.STL b/stretch_description/meshes/hank/link_wrist_yaw.STL
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diff --git a/stretch_description/urdf/update_meshes.py b/stretch_description/urdf/update_meshes.py
new file mode 100755
index 0000000..6e4dc30
--- /dev/null
+++ b/stretch_description/urdf/update_meshes.py
@@ -0,0 +1,8 @@
+#!/usr/bin/env python
+import os
+import stretch_body.hello_utils as hu
+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)