diff --git a/stretch_funmap/stretch_funmap/manipulation_planning.py b/stretch_funmap/stretch_funmap/manipulation_planning.py
index d5041c3d..df6c7d7a 100644
--- a/stretch_funmap/stretch_funmap/manipulation_planning.py
+++ b/stretch_funmap/stretch_funmap/manipulation_planning.py
@@ -214,6 +214,7 @@ def __init__(self, tf2_buffer, debug_directory=None, tool='tool_stretch_gripper'
             'tool_stretch_gripper': 'link_gripper',
             'tool_stretch_dex_wrist': 'link_wrist_yaw_bottom',#link_straight_gripper_aligned
             'eoa_wrist_dw3_tool_sg3': 'link_wrist_yaw_bottom',
+            'eoa_wrist_dw3_tool_sg3_pro': 'link_wrist_yaw_bottom',
         }
         self.tool = tool