diff --git a/talos_description/robots/talos_arm.urdf.xacro b/talos_description/robots/talos_arm.urdf.xacro
index af91b2e14dc80a6f9c68d74af644160f8876c8a9..374655f49ce50070c6a29a5aec664e08a5eeef23 100644
--- a/talos_description/robots/talos_arm.urdf.xacro
+++ b/talos_description/robots/talos_arm.urdf.xacro
@@ -14,7 +14,7 @@
         xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
 
   <xacro:include filename="$(find talos_description)/urdf/arm/arm.urdf.xacro" />
-  <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
+  <xacro:include filename="$(find talos_description)/urdf/gripper/gripper_v2.urdf.xacro" />
 
  <link name="talos_2_link">
     <inertial>