From 6d648cda09302cd26d3f58505b1ab7a00e82703b Mon Sep 17 00:00:00 2001
From: hello-chintan <cdesai@hello-robot.com>
Date: Wed, 5 Apr 2023 14:32:32 -0700
Subject: [PATCH] Revert "stretch-re2-2044 ready to ship"

---
 .../urdf/stretch_description.xacro            | 33 +++++++++----------
 1 file changed, 15 insertions(+), 18 deletions(-)

diff --git a/stretch_description/urdf/stretch_description.xacro b/stretch_description/urdf/stretch_description.xacro
index f41f40b..b6a5fc9 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">
-
-  <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_respeaker.xacro" />
-
-</robot>
-
-  
-
+<?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>