G.A. vd. Hoorn

See [ubi-agni/human_hand/model/human_hand.urdf.xacro](https://github.com/ubi-agni/human_hand/blob/master/model/human_hand.urdf.xacro) for a very good example of how to exploit `xacro` to the fullest for this sort of work.

Sorry for my late reply (too much to do). I'm not entirely sure I completely understand what you're describing/suggesting here. Could you perhaps explain again what is the reason you...

:medal_sports: for working on this btw. Much appreciated.

Just FYI: I can't reproduce this on Ubuntu 12.04, with `ros-hydro-motoman-sia20d-moveit-config_0.3.3-1precise-20140906-1755-+0000_i386.deb` installed.

@shaun-edwards: I'm seeing this now too with `ros-hydro-fanuc-lrmate200ic5l-moveit-config 0.3.0-0precise-20150109-0708-+0000` (I suspect other MoveIt config pkgs will show the same). Did you ever figure this out?

@shaun-edwards: looks like this is caused by a mistake in the `moveit_planning_execution.launch` file. See ros-industrial/fanuc#142.

Hi. Thanks for taking the time to contribute. Much appreciated. Some remarks: - looking at `origin`s of the `joint`s I notice two things: 1. there are translations in more than...

> Not sure why travis failed. It seems that the repo registered with travis but there is no travis.yml in the repo. Exactly. That has nothing to with this PR.

@KlasKronander: do you think you could look into at least the joint origins and translations? The rest I can easily fix myself.

@dhled: would you see an opportunity to fix the PR?