diff --git a/stretch_description/urdf/stretch_description.xacro b/stretch_description/urdf/stretch_description.xacro
index f41f40b..5f9a44d 100644
--- a/stretch_description/urdf/stretch_description.xacro
+++ b/stretch_description/urdf/stretch_description.xacro
@@ -1,18 +1,15 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_description">
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch">
 
-  <xacro:include filename="stretch_dex_wrist.xacro" />
-  <!--<xacro:include filename="stretch_gripper.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>
-
-  
-
+</robot>
\ No newline at end of file