diff --git a/stretch_description/batch/guthrie/urdf/stretch_description.xacro b/stretch_description/batch/guthrie/urdf/stretch_description.xacro
index 800a7a1..d2f9359 100644
--- a/stretch_description/batch/guthrie/urdf/stretch_description.xacro
+++ b/stretch_description/batch/guthrie/urdf/stretch_description.xacro
@@ -9,6 +9,7 @@
   <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/hank/urdf/stretch_description.xacro b/stretch_description/batch/hank/urdf/stretch_description.xacro
index 800a7a1..d2f9359 100644
--- a/stretch_description/batch/hank/urdf/stretch_description.xacro
+++ b/stretch_description/batch/hank/urdf/stretch_description.xacro
@@ -9,6 +9,7 @@
   <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/irma/urdf/stretch_description.xacro b/stretch_description/batch/irma/urdf/stretch_description.xacro
index 800a7a1..d2f9359 100644
--- a/stretch_description/batch/irma/urdf/stretch_description.xacro
+++ b/stretch_description/batch/irma/urdf/stretch_description.xacro
@@ -9,6 +9,7 @@
   <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/joplin/urdf/stretch_description.xacro b/stretch_description/batch/joplin/urdf/stretch_description.xacro
index 800a7a1..d2f9359 100644
--- a/stretch_description/batch/joplin/urdf/stretch_description.xacro
+++ b/stretch_description/batch/joplin/urdf/stretch_description.xacro
@@ -9,6 +9,7 @@
   <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/kendrick/urdf/stretch_description.xacro b/stretch_description/batch/kendrick/urdf/stretch_description.xacro
index 800a7a1..d2f9359 100644
--- a/stretch_description/batch/kendrick/urdf/stretch_description.xacro
+++ b/stretch_description/batch/kendrick/urdf/stretch_description.xacro
@@ -9,6 +9,7 @@
   <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/louis/urdf/stretch_description.xacro b/stretch_description/batch/louis/urdf/stretch_description.xacro
index 800a7a1..d2f9359 100644
--- a/stretch_description/batch/louis/urdf/stretch_description.xacro
+++ b/stretch_description/batch/louis/urdf/stretch_description.xacro
@@ -9,6 +9,7 @@
   <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/mitski/urdf/stretch_description.xacro b/stretch_description/batch/mitski/urdf/stretch_description.xacro
index 800a7a1..d2f9359 100644
--- a/stretch_description/batch/mitski/urdf/stretch_description.xacro
+++ b/stretch_description/batch/mitski/urdf/stretch_description.xacro
@@ -9,6 +9,7 @@
   <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/nina/urdf/stretch_description.xacro b/stretch_description/batch/nina/urdf/stretch_description.xacro
index 800a7a1..d2f9359 100644
--- a/stretch_description/batch/nina/urdf/stretch_description.xacro
+++ b/stretch_description/batch/nina/urdf/stretch_description.xacro
@@ -9,6 +9,7 @@
   <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>