diff --git a/hello_robot_stretch/stretch.xml b/hello_robot_stretch/stretch.xml
index e699c7cc..d613ce44 100644
--- a/hello_robot_stretch/stretch.xml
+++ b/hello_robot_stretch/stretch.xml
@@ -67,6 +67,7 @@
     <texture type="2d" file="hand_pinch.png"/>
     <texture type="2d" file="arm_inner_wrist_aruco_sticker.png"/>
     <texture type="2d" file="arm_top_wrist_aruco_sticker.png"/>
+    <texture type="2d" file="shoulder_aruco_sticker.png"/>
 
     <material name="Caster_Rollers_Red" rgba="0.8 0.001381 0 1"/>
     <material name="Generic_Black" rgba="0.036889 0.036889 0.036889 1"/>
@@ -95,6 +96,7 @@
     <material name="Aruco_Inner_Wrist_Sticker" texture="arm_inner_wrist_aruco_sticker"/>
     <material name="Aruco_Top_Wrist_Sticker" texture="arm_top_wrist_aruco_sticker"/>
     <material name="suction_rubber" rgba="0.25098 0.25098 0.25098 1"/>
+    <material name="Aruco_Shoulder_Sticker" texture="shoulder_aruco_sticker"/>
 
     <mesh file="base_link_0.obj"/>
     <mesh file="base_link_2.obj"/>
@@ -139,6 +141,7 @@
     <mesh file="link_lift_7.obj"/>
     <mesh file="link_lift_8.obj"/>
     <mesh file="link_lift_9.obj"/>
+    <mesh file="link_aruco_shoulder.obj"/>
     <mesh file="link_arm_l4_0.obj"/>
     <mesh file="link_arm_l4_1.obj"/>
     <mesh file="link_arm_l3_0.obj"/>
@@ -333,6 +336,11 @@
             </body>
           </body>
         </body>
+        <body name="link_aruco_shoulder" pos="-0.0133769 0.0558541 0.0865" quat="1 0 0 0">
+          <geom material="Aruco_Shoulder_Sticker" mesh="link_aruco_shoulder" class="visual" mass="3.6E-06"
+          shellinertia="true"/>
+          <geom mesh="link_aruco_shoulder" class="collision"/>
+        </body>
       </body>
       <body name="link_head_pan" pos="0.00610002 0 1.3552" quat="-1 0 0 0">
         <joint name="joint_head_pan" class="head_pan"/>
