diff --git a/stretch_description/batch/guthrie/urdf/stretch_description_dex.xacro b/stretch_description/batch/guthrie/urdf/stretch_description_dex.xacro
new file mode 100644
index 0000000..3d2ace7
--- /dev/null
+++ b/stretch_description/batch/guthrie/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/guthrie/urdf/stretch_description_standard.xacro b/stretch_description/batch/guthrie/urdf/stretch_description_standard.xacro
new file mode 100644
index 0000000..b6a5fc9
--- /dev/null
+++ b/stretch_description/batch/guthrie/urdf/stretch_description_standard.xacro
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch">
+
+  <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/hank/urdf/stretch_description_dex.xacro b/stretch_description/batch/hank/urdf/stretch_description_dex.xacro
new file mode 100644
index 0000000..3d2ace7
--- /dev/null
+++ b/stretch_description/batch/hank/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/hank/urdf/stretch_description_standard.xacro b/stretch_description/batch/hank/urdf/stretch_description_standard.xacro
new file mode 100644
index 0000000..b6a5fc9
--- /dev/null
+++ b/stretch_description/batch/hank/urdf/stretch_description_standard.xacro
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch">
+
+  <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/irma/urdf/stretch_description_dex.xacro b/stretch_description/batch/irma/urdf/stretch_description_dex.xacro
new file mode 100644
index 0000000..3d2ace7
--- /dev/null
+++ b/stretch_description/batch/irma/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/irma/urdf/stretch_description_standard.xacro b/stretch_description/batch/irma/urdf/stretch_description_standard.xacro
new file mode 100644
index 0000000..b6a5fc9
--- /dev/null
+++ b/stretch_description/batch/irma/urdf/stretch_description_standard.xacro
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch">
+
+  <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/joplin/urdf/stretch_description_dex.xacro b/stretch_description/batch/joplin/urdf/stretch_description_dex.xacro
new file mode 100644
index 0000000..3d2ace7
--- /dev/null
+++ b/stretch_description/batch/joplin/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/joplin/urdf/stretch_description_standard.xacro b/stretch_description/batch/joplin/urdf/stretch_description_standard.xacro
new file mode 100644
index 0000000..b6a5fc9
--- /dev/null
+++ b/stretch_description/batch/joplin/urdf/stretch_description_standard.xacro
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch">
+
+  <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/kendrick/urdf/stretch_description_dex.xacro b/stretch_description/batch/kendrick/urdf/stretch_description_dex.xacro
new file mode 100644
index 0000000..3d2ace7
--- /dev/null
+++ b/stretch_description/batch/kendrick/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/kendrick/urdf/stretch_description_standard.xacro b/stretch_description/batch/kendrick/urdf/stretch_description_standard.xacro
new file mode 100644
index 0000000..b6a5fc9
--- /dev/null
+++ b/stretch_description/batch/kendrick/urdf/stretch_description_standard.xacro
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch">
+
+  <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/louis/urdf/stretch_description_dex.xacro b/stretch_description/batch/louis/urdf/stretch_description_dex.xacro
new file mode 100644
index 0000000..3d2ace7
--- /dev/null
+++ b/stretch_description/batch/louis/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/louis/urdf/stretch_description_standard.xacro b/stretch_description/batch/louis/urdf/stretch_description_standard.xacro
new file mode 100644
index 0000000..b6a5fc9
--- /dev/null
+++ b/stretch_description/batch/louis/urdf/stretch_description_standard.xacro
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch">
+
+  <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/mitski/urdf/stretch_description_dex.xacro b/stretch_description/batch/mitski/urdf/stretch_description_dex.xacro
index c46eb64..3d2ace7 100644
--- a/stretch_description/batch/mitski/urdf/stretch_description_dex.xacro
+++ b/stretch_description/batch/mitski/urdf/stretch_description_dex.xacro
@@ -10,6 +10,7 @@
   <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_dex.xacro b/stretch_description/batch/nina/urdf/stretch_description_dex.xacro
index c46eb64..3d2ace7 100644
--- a/stretch_description/batch/nina/urdf/stretch_description_dex.xacro
+++ b/stretch_description/batch/nina/urdf/stretch_description_dex.xacro
@@ -10,6 +10,7 @@
   <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/otis/urdf/stretch_description_dex.xacro b/stretch_description/batch/otis/urdf/stretch_description_dex.xacro
index c46eb64..3d2ace7 100644
--- a/stretch_description/batch/otis/urdf/stretch_description_dex.xacro
+++ b/stretch_description/batch/otis/urdf/stretch_description_dex.xacro
@@ -10,6 +10,7 @@
   <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/urdf/stretch_description_dex.xacro b/stretch_description/urdf/stretch_description_dex.xacro
index c46eb64..3d2ace7 100644
--- a/stretch_description/urdf/stretch_description_dex.xacro
+++ b/stretch_description/urdf/stretch_description_dex.xacro
@@ -10,6 +10,7 @@
   <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>