From 63172f8207247bde93435c16a0be08e2b71e3289 Mon Sep 17 00:00:00 2001
From: George Stavrinos <stavrinosgeo@gmail.com>
Date: Sat, 20 Oct 2018 15:58:12 +0300
Subject: [PATCH] Changes to at least compile under ROS distributions > Jade.
 Tested on Melodic. Files are missing, and the URDF files was forced in the
 repo taken by IHMC

---
 CMakeLists.txt                                |  1 +
 .../valkyrie_actuator_names.xacro             |  2 +-
 common/xacro/api/valkyrie_api.xacro           |  2 +-
 .../joint_names/valkyrie_joint_names.xacro    |  2 +-
 common/xacro/nodes/regular_nodes.xacro        | 34 ++++++++
 common/xacro/nodes/test_bench_nodes.xacro     |  2 +-
 common/xacro/nodes/valkyrie_nodes.xacro       | 22 +----
 .../serial_numbers/test_bench_serials.xacro   |  2 +-
 .../serial_numbers/valkyrie_A_serials.xacro   |  2 +-
 .../serial_numbers/valkyrie_B_serials.xacro   |  2 +-
 .../serial_numbers/valkyrie_C_serials.xacro   |  2 +-
 instance/instances/robots/test_bench.xacro    |  2 +-
 instance/instances/robots/valkyrie_A.xacro    |  2 +-
 instance/instances/robots/valkyrie_B.xacro    |  2 +-
 instance/instances/robots/valkyrie_C.xacro    |  2 +-
 .../xacro/common/test_bench_template.xacro    |  2 +-
 .../xacro/common/valkyrie_full_template.xacro |  4 +-
 .../robots/xacro/devices/devices.xacro        |  2 +-
 .../instances/robots/xacro/limbs/arm.xacro    |  8 +-
 .../instances/robots/xacro/limbs/leg.xacro    | 10 ++-
 .../instances/robots/xacro/limbs/neck.xacro   |  2 +-
 .../instances/robots/xacro/limbs/waist.xacro  |  4 +-
 .../robots/xacro/mechanisms/mechanisms.xacro  |  2 +-
 .../xacro/sensors/ati_force_torque.xacro      |  2 +-
 .../instances/robots/xacro/sensors/imu.xacro  |  2 +-
 model/materials/materials.xacro               |  2 +-
 model/robots/common/xacro/arm/arm.xacro       | 83 +++++++++++++++----
 .../common/xacro/arm/frame_parameters.xacro   |  2 +-
 .../robots/common/xacro/arm/joint_axes.xacro  |  2 +-
 .../common/xacro/arm/joint_limits.xacro       |  2 +-
 .../robots/common/xacro/arm/link_names.xacro  |  2 +-
 .../common/xacro/arm/mass_parameters.xacro    |  2 +-
 model/robots/common/xacro/common_bodies.xacro | 20 ++---
 .../robots/common/xacro/generic_models.xacro  |  2 +-
 .../common/xacro/head/frame_parameters.xacro  |  2 +-
 model/robots/common/xacro/head/head.xacro     | 48 ++++++++++-
 .../robots/common/xacro/head/joint_axes.xacro |  2 +-
 .../common/xacro/head/joint_limits.xacro      |  2 +-
 .../robots/common/xacro/head/link_names.xacro |  2 +-
 .../common/xacro/head/mass_parameters.xacro   |  2 +-
 .../xacro/index_finger/frame_parameters.xacro |  2 +-
 .../xacro/index_finger/index_finger.xacro     | 21 ++++-
 .../xacro/index_finger/joint_axes.xacro       |  2 +-
 .../xacro/index_finger/joint_limits.xacro     |  2 +-
 .../xacro/index_finger/link_names.xacro       |  2 +-
 .../xacro/index_finger/mass_parameters.xacro  |  2 +-
 .../common/xacro/leg/frame_parameters.xacro   |  2 +-
 .../robots/common/xacro/leg/joint_axes.xacro  |  2 +-
 .../common/xacro/leg/joint_limits.xacro       |  2 +-
 model/robots/common/xacro/leg/leg.xacro       | 74 ++++++++++++++++-
 .../robots/common/xacro/leg/link_names.xacro  |  2 +-
 .../common/xacro/leg/mass_parameters.xacro    |  2 +-
 .../middle_finger/frame_parameters.xacro      |  2 +-
 .../xacro/middle_finger/joint_axes.xacro      |  2 +-
 .../xacro/middle_finger/joint_limits.xacro    |  2 +-
 .../xacro/middle_finger/link_names.xacro      |  2 +-
 .../xacro/middle_finger/mass_parameters.xacro |  2 +-
 .../xacro/middle_finger/middle_finger.xacro   | 21 ++++-
 model/robots/common/xacro/pelvis/pelvis.xacro |  2 +-
 .../xacro/pinky_finger/frame_parameters.xacro |  2 +-
 .../xacro/pinky_finger/joint_axes.xacro       |  2 +-
 .../xacro/pinky_finger/joint_limits.xacro     |  2 +-
 .../xacro/pinky_finger/link_names.xacro       |  2 +-
 .../xacro/pinky_finger/mass_parameters.xacro  |  2 +-
 .../xacro/pinky_finger/pinky_finger.xacro     | 21 ++++-
 .../xacro/sensors/ati_force_torque.xacro      |  2 +-
 model/robots/common/xacro/sensors/flea.xacro  |  2 +-
 .../common/xacro/sensors/microstrain.xacro    |  2 +-
 .../common/xacro/thumb/frame_parameters.xacro |  2 +-
 .../common/xacro/thumb/joint_axes.xacro       |  2 +-
 .../common/xacro/thumb/joint_limits.xacro     |  2 +-
 .../common/xacro/thumb/link_names.xacro       |  2 +-
 .../common/xacro/thumb/mass_parameters.xacro  |  2 +-
 model/robots/common/xacro/thumb/thumb.xacro   |  8 +-
 .../common/xacro/valkyrie_base_hw.xacro       |  2 +-
 .../common/xacro/valkyrie_base_sim.xacro      |  2 +-
 .../xacro/valkyrie_no_hands_base_hw.xacro     |  2 +-
 .../common/xacro/waist/frame_parameters.xacro |  2 +-
 .../common/xacro/waist/joint_axes.xacro       |  2 +-
 .../common/xacro/waist/joint_limits.xacro     |  2 +-
 .../common/xacro/waist/link_names.xacro       |  2 +-
 .../common/xacro/waist/mass_parameters.xacro  |  2 +-
 model/robots/common/xacro/waist/waist.xacro   | 63 ++++++++++++--
 model/robots/right_knee.xacro                 |  2 +-
 model/robots/right_leg.xacro                  |  2 +-
 model/robots/valkyrie_A_hw.xacro              |  4 +-
 model/robots/valkyrie_A_no_hands_hw.xacro     |  4 +-
 model/robots/valkyrie_B_hw.xacro              |  4 +-
 model/robots/valkyrie_B_no_hands_hw.xacro     |  4 +-
 model/robots/valkyrie_C_hw.xacro              |  4 +-
 model/robots/valkyrie_C_no_hands_hw.xacro     |  4 +-
 model/robots/valkyrie_sim.xacro               |  2 +-
 model/robots/valkyrie_sim_pinned.xacro        |  2 +-
 93 files changed, 455 insertions(+), 153 deletions(-)
 create mode 100644 common/xacro/nodes/regular_nodes.xacro

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b2dde60..9ebbf82 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -47,6 +47,7 @@ foreach(it ${urdf_xacro_files})
   message("produce expanded file :" ${expanded_file})
 
   xacro_add_xacro_file(${it} ${expanded_file})
+  set(_XACRO_INORDER TRUE) 
   
   set(urdf_files ${urdf_files} ${expanded_file})
 endforeach(it)
diff --git a/common/xacro/actuator_names/valkyrie_actuator_names.xacro b/common/xacro/actuator_names/valkyrie_actuator_names.xacro
index 545b608..d2ee53f 100644
--- a/common/xacro/actuator_names/valkyrie_actuator_names.xacro
+++ b/common/xacro/actuator_names/valkyrie_actuator_names.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot name="valkyrie_joint_names" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot name="valkyrie_joint_names" xmlns:xacro="http://wiki.ros.org/xacro">
 	<xacro:property name="TorsoYawActuatorName" value="torsoYaw"/>
 	<xacro:property name="WaistLeftActuatorName" value="waistLeftActuator"/>
 	<xacro:property name="WaistRightActuatorName" value="waistRightActuator"/>
diff --git a/common/xacro/api/valkyrie_api.xacro b/common/xacro/api/valkyrie_api.xacro
index fe24eb6..a083b88 100644
--- a/common/xacro/api/valkyrie_api.xacro
+++ b/common/xacro/api/valkyrie_api.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_api">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_api">
 											
 	<xacro:property name="HipYawApi" value="robot_hardware_interface/TurbodriverAPI_DRCv4" />
 	<xacro:property name="HipRollApi" value="robot_hardware_interface/TurbodriverAPI_DRCv4" />
diff --git a/common/xacro/joint_names/valkyrie_joint_names.xacro b/common/xacro/joint_names/valkyrie_joint_names.xacro
index 664d198..e03fe46 100644
--- a/common/xacro/joint_names/valkyrie_joint_names.xacro
+++ b/common/xacro/joint_names/valkyrie_joint_names.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot name="valkyrie_joint_names" xmlns:xacro="http://www.ros.org/wiki/xacro">
+<robot name="valkyrie_joint_names" xmlns:xacro="http://wiki.ros.org/xacro">
 	<xacro:property name="TorsoYawJointName" value="torsoYaw"/>
 	<xacro:property name="TorsoPitchJointName" value="torsoPitch"/>
 	<xacro:property name="TorsoRollJointName" value="torsoRoll"/>
diff --git a/common/xacro/nodes/regular_nodes.xacro b/common/xacro/nodes/regular_nodes.xacro
new file mode 100644
index 0000000..4d9f246
--- /dev/null
+++ b/common/xacro/nodes/regular_nodes.xacro
@@ -0,0 +1,34 @@
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="regular_nodes">
+
+    <xacro:property name="LowerNeckPitchNode" value="/neck/j1" />
+    <xacro:property name="NeckYawNode" value="/neck/j2" />
+    <xacro:property name="UpperNeckPitchNode" value="/neck/j3" />
+
+    <xacro:property name="TrunkYawNode" value="/pelvis/waist" /> <!--Yaw-->
+    <xacro:property name="WaistLeftActuatorNode" value="/trunk/left_actuator" /> <!--pitch-->
+    <xacro:property name="WaistRightActuatorNode" value="/trunk/right_actuator" /> <!--roll-->
+    <xacro:property name="WaistPitchActuatorSimNode" value="/trunk/pitch_actuator" /> <!--pitch-->
+    <xacro:property name="WaistRollActuatorSimNode" value="/trunk/roll_actuator" /> <!--roll-->
+
+    <xacro:property name="pelvis_imu1_node" value="/pelvis/sensors/imu1" />
+    <xacro:property name="pelvis_imu2_node" value="/pelvis/sensors/imu2" />
+    <xacro:property name="torso_imu1_node" value="/torso/sensors/imu1" />
+    <xacro:property name="torso_imu2_node" value="/torso/sensors/imu2" />
+
+    <xacro:property name="left_foot_ATI_node" value="/left_leg/ankle/left_actuator" />
+    <xacro:property name="left_foot_Sim_ATI_node" value="/sensors/leftFootSixAxis" />
+    <xacro:property name="right_foot_ATI_node" value="/right_leg/ankle/left_actuator" />
+    <xacro:property name="right_foot_Sim_ATI_node" value="/sensors/rightFootSixAxis" />
+
+    <xacro:macro name="all_channels" >
+        <Channels>
+            <Channel id="/right_arm" />
+            <Channel id="/left_arm" />
+            <Channel id="/right_leg" />
+            <Channel id="/left_leg" />
+            <Channel id="/neck" />
+            <Channel id="/trunk" />
+        </Channels>
+    </xacro:macro>
+    
+</robot>
diff --git a/common/xacro/nodes/test_bench_nodes.xacro b/common/xacro/nodes/test_bench_nodes.xacro
index 88550f0..7a96c58 100644
--- a/common/xacro/nodes/test_bench_nodes.xacro
+++ b/common/xacro/nodes/test_bench_nodes.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_nodes">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_nodes">
 
 	<xacro:property name="testbench_node" value="/left_arm/j0" />
     
diff --git a/common/xacro/nodes/valkyrie_nodes.xacro b/common/xacro/nodes/valkyrie_nodes.xacro
index 6b50ac0..eaec63a 100644
--- a/common/xacro/nodes/valkyrie_nodes.xacro
+++ b/common/xacro/nodes/valkyrie_nodes.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_nodes">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_nodes">
 
 	<xacro:property name="HipYawNode" value="/pelvis/${prefix}_leg_j1" />
 	<xacro:property name="HipRollNode" value="/${prefix}_leg/j2" />
@@ -19,25 +19,7 @@
 	<xacro:property name="WristRollActuatorSimNode" value="/${prefix}_arm/wrist/roll_actautor" />
 	<xacro:property name="WristPitchActuatorSimNode" value="/${prefix}_arm/wrist/pitch_actuator" />
 
-	<xacro:property name="LowerNeckPitchNode" value="/neck/j1" />
-	<xacro:property name="NeckYawNode" value="/neck/j2" />
-	<xacro:property name="UpperNeckPitchNode" value="/neck/j3" />
-
-	<xacro:property name="TrunkYawNode" value="/pelvis/waist" /> <!--Yaw-->
-	<xacro:property name="WaistLeftActuatorNode" value="/trunk/left_actuator" /> <!--pitch-->
-	<xacro:property name="WaistRightActuatorNode" value="/trunk/right_actuator" /> <!--roll-->
-	<xacro:property name="WaistPitchActuatorSimNode" value="/trunk/pitch_actuator" /> <!--pitch-->
-	<xacro:property name="WaistRollActuatorSimNode" value="/trunk/roll_actuator" /> <!--roll-->
-
-	<xacro:property name="pelvis_imu1_node" value="/pelvis/sensors/imu1" />
-	<xacro:property name="pelvis_imu2_node" value="/pelvis/sensors/imu2" />
-	<xacro:property name="torso_imu1_node" value="/torso/sensors/imu1" />
-	<xacro:property name="torso_imu2_node" value="/torso/sensors/imu2" />
-
-	<xacro:property name="left_foot_ATI_node" value="/left_leg/ankle/left_actuator" />
-	<xacro:property name="left_foot_Sim_ATI_node" value="/sensors/leftFootSixAxis" />
-	<xacro:property name="right_foot_ATI_node" value="/right_leg/ankle/left_actuator" />
-	<xacro:property name="right_foot_Sim_ATI_node" value="/sensors/rightFootSixAxis" />
+	<xacro:include filename="$(find val_description)/common/xacro/nodes/regular_nodes.xacro" />
 
 	<xacro:macro name="all_channels" >
 		<Channels>
diff --git a/common/xacro/serial_numbers/test_bench_serials.xacro b/common/xacro/serial_numbers/test_bench_serials.xacro
index 011d01f..5188f72 100644
--- a/common/xacro/serial_numbers/test_bench_serials.xacro
+++ b/common/xacro/serial_numbers/test_bench_serials.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="test_bench_serials">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="test_bench_serials">
 
 	<xacro:property name="testbench_serial_number" value="v_a_013" />
     
diff --git a/common/xacro/serial_numbers/valkyrie_A_serials.xacro b/common/xacro/serial_numbers/valkyrie_A_serials.xacro
index 40123b9..3fe81c9 100644
--- a/common/xacro/serial_numbers/valkyrie_A_serials.xacro
+++ b/common/xacro/serial_numbers/valkyrie_A_serials.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_A_serials">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_A_serials">
 
 	<xacro:property name="leftLegJ1SerialNumber" value="v_a_006" />
 	<xacro:property name="leftLegJ2SerialNumber" value="v_b_002" />
diff --git a/common/xacro/serial_numbers/valkyrie_B_serials.xacro b/common/xacro/serial_numbers/valkyrie_B_serials.xacro
index 4d4e861..6299b44 100644
--- a/common/xacro/serial_numbers/valkyrie_B_serials.xacro
+++ b/common/xacro/serial_numbers/valkyrie_B_serials.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_B_serials">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_B_serials">
 
 	<xacro:property name="leftLegJ1SerialNumber" value="v_a_009" />
 	<xacro:property name="leftLegJ2SerialNumber" value="v_b_006" />
diff --git a/common/xacro/serial_numbers/valkyrie_C_serials.xacro b/common/xacro/serial_numbers/valkyrie_C_serials.xacro
index ad8fc8f..e87a904 100644
--- a/common/xacro/serial_numbers/valkyrie_C_serials.xacro
+++ b/common/xacro/serial_numbers/valkyrie_C_serials.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_C_serials">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_C_serials">
 
 	<xacro:property name="leftLegJ1SerialNumber" value="v_a_015" />
 	<xacro:property name="leftLegJ2SerialNumber" value="v_b_011" />
diff --git a/instance/instances/robots/test_bench.xacro b/instance/instances/robots/test_bench.xacro
index 0557c42..abeb732 100644
--- a/instance/instances/robots/test_bench.xacro
+++ b/instance/instances/robots/test_bench.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="testbench">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="testbench">
 
 	<xacro:property name="instance" value="testbench" />
     <xacro:include filename="xacro/common/test_bench_template.xacro"/>
diff --git a/instance/instances/robots/valkyrie_A.xacro b/instance/instances/robots/valkyrie_A.xacro
index 0f7c0dc..78f5586 100644
--- a/instance/instances/robots/valkyrie_A.xacro
+++ b/instance/instances/robots/valkyrie_A.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_A">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_A">
 
 	<xacro:property name="instance" value="valkyrie_A" />
 	<xacro:include filename="$(find val_description)/common/xacro/serial_numbers/valkyrie_A_serials.xacro" />
diff --git a/instance/instances/robots/valkyrie_B.xacro b/instance/instances/robots/valkyrie_B.xacro
index ae313d2..42ae390 100644
--- a/instance/instances/robots/valkyrie_B.xacro
+++ b/instance/instances/robots/valkyrie_B.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_B">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_B">
 
 	<xacro:property name="instance" value="valkyrie_B" />
 	<xacro:include filename="$(find val_description)/common/xacro/serial_numbers/valkyrie_B_serials.xacro" />
diff --git a/instance/instances/robots/valkyrie_C.xacro b/instance/instances/robots/valkyrie_C.xacro
index e9a11bd..740b5fa 100644
--- a/instance/instances/robots/valkyrie_C.xacro
+++ b/instance/instances/robots/valkyrie_C.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_C">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_C">
 
 	<xacro:property name="instance" value="valkyrie_C" />
 	<xacro:include filename="$(find val_description)/common/xacro/serial_numbers/valkyrie_C_serials.xacro" />
diff --git a/instance/instances/robots/xacro/common/test_bench_template.xacro b/instance/instances/robots/xacro/common/test_bench_template.xacro
index 2f0d4da..3db1819 100644
--- a/instance/instances/robots/xacro/common/test_bench_template.xacro
+++ b/instance/instances/robots/xacro/common/test_bench_template.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="test_bench_template">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="test_bench_template">
 
 	<xacro:include filename="$(find val_description)/common/xacro/serial_numbers/test_bench_serials.xacro" />
 	<xacro:include filename="$(find val_description)/common/xacro/nodes/test_bench_nodes.xacro" />
diff --git a/instance/instances/robots/xacro/common/valkyrie_full_template.xacro b/instance/instances/robots/xacro/common/valkyrie_full_template.xacro
index 24a69e9..996cc70 100644
--- a/instance/instances/robots/xacro/common/valkyrie_full_template.xacro
+++ b/instance/instances/robots/xacro/common/valkyrie_full_template.xacro
@@ -1,6 +1,6 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_template">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_template">
 
-	<xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro" />
+	<xacro:include filename="$(find val_description)/common/xacro/nodes/regular_nodes.xacro" />
 	<xacro:include filename="$(find val_description)/instance/instances/robots/xacro/limbs/leg.xacro" />
 	<xacro:include filename="$(find val_description)/instance/instances/robots/xacro/limbs/arm.xacro" />
 	<xacro:include filename="$(find val_description)/instance/instances/robots/xacro/limbs/neck.xacro" />
diff --git a/instance/instances/robots/xacro/devices/devices.xacro b/instance/instances/robots/xacro/devices/devices.xacro
index d2fa8ea..e70cf89 100644
--- a/instance/instances/robots/xacro/devices/devices.xacro
+++ b/instance/instances/robots/xacro/devices/devices.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="actuators">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="actuators">
 
   <xacro:macro name="imu" params="name serial_number node">
   	<Device id="${name}" type="imu">
diff --git a/instance/instances/robots/xacro/limbs/arm.xacro b/instance/instances/robots/xacro/limbs/arm.xacro
index 3735e50..66d9c90 100644
--- a/instance/instances/robots/xacro/limbs/arm.xacro
+++ b/instance/instances/robots/xacro/limbs/arm.xacro
@@ -1,9 +1,13 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="arm">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="arm">
 
     <xacro:include filename="$(find val_description)/instance/instances/robots/xacro/mechanisms/mechanisms.xacro"/>
-    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
 
     <xacro:macro name="arm" params="prefix j1_serial_number j2_serial_number j3_serial_number j4_serial_number j5_serial_number wrist_actuator0_serial wrist_actuator1_serial" >
+
+        <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro" />
+
+        <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+
     	<xacro:simple_mechanism name="${ShoulderPitchJointName}" serial_number="${j1_serial_number}" node="${ShoulderPitchNode}"/>
 
     	<xacro:simple_mechanism name="${ShoulderRollJointName}" serial_number="${j2_serial_number}" node="${ShoulderRollNode}"/>
diff --git a/instance/instances/robots/xacro/limbs/leg.xacro b/instance/instances/robots/xacro/limbs/leg.xacro
index 349b0dd..bfcbb41 100644
--- a/instance/instances/robots/xacro/limbs/leg.xacro
+++ b/instance/instances/robots/xacro/limbs/leg.xacro
@@ -1,10 +1,14 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="leg">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="leg">
 
     <xacro:include filename="$(find val_description)/instance/instances/robots/xacro/mechanisms/mechanisms.xacro"/>
-    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
 
     <xacro:macro name="leg" params="prefix j1_serial_number j2_serial_number j3_serial_number j4_serial_number ankle_left_actuator_serial ankle_right_actuator_serial" >
-    	<xacro:simple_mechanism name="${HipYawJointName}" serial_number="${j1_serial_number}" node="${HipYawNode}"/>
+
+        <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro" />
+
+        <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+
+        <xacro:simple_mechanism name="${HipYawJointName}" serial_number="${j1_serial_number}" node="${HipYawNode}"/>
 
     	<xacro:simple_mechanism name="${HipRollJointName}" serial_number="${j2_serial_number}" node="${HipRollNode}"/>
 
diff --git a/instance/instances/robots/xacro/limbs/neck.xacro b/instance/instances/robots/xacro/limbs/neck.xacro
index 49c0698..6f7a536 100644
--- a/instance/instances/robots/xacro/limbs/neck.xacro
+++ b/instance/instances/robots/xacro/limbs/neck.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="neck">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="neck">
 
     <xacro:include filename="$(find val_description)/instance/instances/robots/xacro/mechanisms/mechanisms.xacro"/>
     <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
diff --git a/instance/instances/robots/xacro/limbs/waist.xacro b/instance/instances/robots/xacro/limbs/waist.xacro
index 964c336..3716a5f 100644
--- a/instance/instances/robots/xacro/limbs/waist.xacro
+++ b/instance/instances/robots/xacro/limbs/waist.xacro
@@ -1,6 +1,6 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="waist">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="waist">
 
-    <xacro:include filename="xacro/mechanisms/mechanisms.xacro"/>
+    <xacro:include filename="../mechanisms/mechanisms.xacro"/>
 
     <xacro:macro name="waist" params="j1_serial_number waist_left_actuator_serial waist_right_actuator_serial" >
     	<xacro:simple_mechanism name="torso_yaw" serial_number="${j1_serial_number}" node="${TrunkYawNode}"/>
diff --git a/instance/instances/robots/xacro/mechanisms/mechanisms.xacro b/instance/instances/robots/xacro/mechanisms/mechanisms.xacro
index 085e4ba..6bb990a 100644
--- a/instance/instances/robots/xacro/mechanisms/mechanisms.xacro
+++ b/instance/instances/robots/xacro/mechanisms/mechanisms.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="actuators">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="actuators">
 
   <xacro:macro name="simple_mechanism" params="name serial_number node">
   	<Mechanism id="${name}" type="simple">
diff --git a/instance/instances/robots/xacro/sensors/ati_force_torque.xacro b/instance/instances/robots/xacro/sensors/ati_force_torque.xacro
index efade33..23398f3 100644
--- a/instance/instances/robots/xacro/sensors/ati_force_torque.xacro
+++ b/instance/instances/robots/xacro/sensors/ati_force_torque.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="imu">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="imu">
 
 	<xacro:macro name="ati_force_torque" params="name serial_number node">
 		<Device id="${name}" type="force_torque">
diff --git a/instance/instances/robots/xacro/sensors/imu.xacro b/instance/instances/robots/xacro/sensors/imu.xacro
index b2fd29c..6283f43 100644
--- a/instance/instances/robots/xacro/sensors/imu.xacro
+++ b/instance/instances/robots/xacro/sensors/imu.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="imu">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="imu">
 
 	<xacro:macro name="microstrain_imu" params="name serial_number node">
 		<Device id="${name}" type="imu">
diff --git a/model/materials/materials.xacro b/model/materials/materials.xacro
index f2d9f19..3b09210 100644
--- a/model/materials/materials.xacro
+++ b/model/materials/materials.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/materials">    
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/materials">    
     <material name="White">
         <color rgba="1.0 1.0 1.0 1.0"/>
     </material>
diff --git a/model/robots/common/xacro/arm/arm.xacro b/model/robots/common/xacro/arm/arm.xacro
index 5cd3ace..9357485 100644
--- a/model/robots/common/xacro/arm/arm.xacro
+++ b/model/robots/common/xacro/arm/arm.xacro
@@ -1,19 +1,18 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="arm">
-
-  <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
-  <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
-  <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
-  <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
-  <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/joint_axes.xacro"/>
-  <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/link_names.xacro"/>
-  <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/joint_limits.xacro"/>
-  <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/frame_parameters.xacro"/>
-  <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/mass_parameters.xacro"/>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="arm">
 
-  <xacro:macro name="make_upper_arm" params="prefix reflect upper_arm_root_link">
 
-    <xacro:standard_link name="${ShoulderPitchLinkName}"
+  <xacro:macro name="make_upper_arm" params="prefix reflect upper_arm_root_link">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/mass_parameters.xacro"/>
+    <xacro:standard_link name="${ShoulderRollLinkName}"
                     mass="${ShoulderPitchLinkMass}"
                     origin_xyz="${ShoulderPitchLinkComPosition}" origin_rpy="0 0 0"
                     ixx="${ShoulderPitchLinkInertia_IXX}" ixy="${ShoulderPitchLinkInertia_IXY}" ixz="${ShoulderPitchLinkInertia_IXZ}"
@@ -49,7 +48,7 @@
                     collision_mesh="${mesh_root}/arms/aj4_${prefix}.dae" />
 
     <xacro:revolute_joint_ex jointName="${ShoulderPitchJointName}"
-                          parent="${upper_arm_root_link}" child="${ShoulderPitchLinkName}"
+                          parent="${upper_arm_root_link}" child="${ShoulderRollLinkName}"
                           origin_xyz="${ShoulderPitchFrameOrigin_X} ${ShoulderPitchFrameOrigin_Y} ${ShoulderPitchFrameOrigin_Z}"
                           origin_rpy="${ShoulderPitchFrameOrientation_Roll} ${ShoulderPitchFrameOrientation_Pitch} ${ShoulderPitchFrameOrientation_Yaw}" 
                           axis="${ShoulderPitchRotationAxis}"
@@ -59,7 +58,7 @@
     </xacro:revolute_joint_ex>
 
     <xacro:revolute_joint_ex jointName="${ShoulderRollJointName}"
-                          parent="${ShoulderPitchLinkName}" child="${ShoulderRollLinkName}"
+                          parent="${ShoulderRollLinkName}" child="${ShoulderRollLinkName}"
                           origin_xyz="${ShoulderRollFrameOrigin_X} ${ShoulderRollFrameOrigin_Y} ${ShoulderRollFrameOrigin_Z}"
                           origin_rpy="${ShoulderRollFrameOrientation_Roll} ${ShoulderRollFrameOrientation_Pitch} ${ShoulderRollFrameOrientation_Yaw}" 
                           axis="${ShoulderRollRotationAxis}"
@@ -101,6 +100,15 @@
 
 
   <xacro:macro name="make_lower_arm" params="prefix reflect lower_arm_root_link">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/mass_parameters.xacro"/>
     <xacro:standard_link name="${ForearmLinkName}"
                     mass="${ForearmYawLinkMass}"
                     origin_xyz="${ForearmYawLinkComPosition}"
@@ -170,15 +178,42 @@
   </xacro:macro>
 
   <xacro:macro name="make_arm" params="prefix reflect arm_root_link">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/mass_parameters.xacro"/>
     <xacro:make_upper_arm prefix="${prefix}" reflect="${reflect}" upper_arm_root_link="${arm_root_link}" />
     <xacro:make_lower_arm prefix="${prefix}" reflect="${reflect}" lower_arm_root_link="${ElbowPitchLinkName}" />
   </xacro:macro>
 
   <xacro:macro name="make_arm_no_hands" params="prefix reflect arm_root_link">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/mass_parameters.xacro"/>
     <xacro:make_upper_arm prefix="${prefix}" reflect="${reflect}" upper_arm_root_link="${arm_root_link}" />
   </xacro:macro>
 
   <xacro:macro name="arm_transmissions_hw" params="prefix">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/mass_parameters.xacro"/>
     <xacro:simple_transmission jointName="${ShoulderPitchJointName}" actuatorName="${ShoulderPitchActuatorName}" nodeName="${ShoulderPitchNode}" actuatorApi="${ShoulderPitchApi}"/>
     <xacro:simple_transmission jointName="${ShoulderRollJointName}" actuatorName="${ShoulderRollActuatorName}" nodeName="${ShoulderRollNode}" actuatorApi="${ShoulderRollApi}"/>
     <xacro:simple_transmission jointName="${ShoulderYawJointName}" actuatorName="${ShoulderYawActuatorName}" nodeName="${ShoulderYawNode}" actuatorApi="${ShoulderYawApi}"/>
@@ -188,6 +223,15 @@
   </xacro:macro>
 
   <xacro:macro name="arm_transmissions_no_hands" params="prefix">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/mass_parameters.xacro"/>
     <xacro:simple_transmission jointName="${ShoulderPitchJointName}" actuatorName="${ShoulderPitchActuatorName}" nodeName="${ShoulderPitchNode}" actuatorApi="${ShoulderPitchApi}"/>
     <xacro:simple_transmission jointName="${ShoulderRollJointName}" actuatorName="${ShoulderRollActuatorName}" nodeName="${ShoulderRollNode}" actuatorApi="${ShoulderRollApi}"/>
     <xacro:simple_transmission jointName="${ShoulderYawJointName}" actuatorName="${ShoulderYawActuatorName}" nodeName="${ShoulderYawNode}" actuatorApi="${ShoulderYawApi}"/>
@@ -195,6 +239,15 @@
   </xacro:macro>
 
   <xacro:macro name="arm_transmissions_sim" params="prefix">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/arm/mass_parameters.xacro"/>
     <xacro:simple_transmission jointName="${ShoulderPitchJointName}" actuatorName="${ShoulderPitchActuatorName}" nodeName="${ShoulderPitchNode}" actuatorApi="${SimApi}"/>
     <xacro:simple_transmission jointName="${ShoulderRollJointName}" actuatorName="${ShoulderRollActuatorName}" nodeName="${ShoulderRollNode}" actuatorApi="${SimApi}"/>
     <xacro:simple_transmission jointName="${ShoulderYawJointName}" actuatorName="${ShoulderYawActuatorName}" nodeName="${ShoulderYawNode}" actuatorApi="${SimApi}"/>
diff --git a/model/robots/common/xacro/arm/frame_parameters.xacro b/model/robots/common/xacro/arm/frame_parameters.xacro
index 169814e..e928e0c 100644
--- a/model/robots/common/xacro/arm/frame_parameters.xacro
+++ b/model/robots/common/xacro/arm/frame_parameters.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/arm/dh_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/arm/dh_parameters">
   
   <xacro:property name="ShoulderPitchFrameOrigin_X" value="-0.0316"/>
   <xacro:property name="ShoulderPitchFrameOrigin_Y" value="0.0"/>
diff --git a/model/robots/common/xacro/arm/joint_axes.xacro b/model/robots/common/xacro/arm/joint_axes.xacro
index 3e8e615..86db66f 100644
--- a/model/robots/common/xacro/arm/joint_axes.xacro
+++ b/model/robots/common/xacro/arm/joint_axes.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="torso_joint_rotation_axes">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="torso_joint_rotation_axes">
 
 <xacro:property name="ShoulderPitchRotationAxis" value="0 1 0"/>
 <xacro:property name="ShoulderRollRotationAxis" value="1 0 0"/>
diff --git a/model/robots/common/xacro/arm/joint_limits.xacro b/model/robots/common/xacro/arm/joint_limits.xacro
index b2f74fa..d6779d9 100644
--- a/model/robots/common/xacro/arm/joint_limits.xacro
+++ b/model/robots/common/xacro/arm/joint_limits.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/arm/joint_limits">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/arm/joint_limits">
   
   <xacro:property name="ShoulderPitchTorqueLimit" value="190" />
   <xacro:property name="ShoulderRollTorqueLimit" value="190" />
diff --git a/model/robots/common/xacro/arm/link_names.xacro b/model/robots/common/xacro/arm/link_names.xacro
index 3f340b2..6fce79d 100644
--- a/model/robots/common/xacro/arm/link_names.xacro
+++ b/model/robots/common/xacro/arm/link_names.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/arm/link_names">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/arm/link_names">
 
   <xacro:property name="ShoulderPitchParentLinkName" value="${arm_root_link}" />
   <xacro:property name="ShoulderPitchLinkName" value="${prefix}ShoulderPitchLink" />
diff --git a/model/robots/common/xacro/arm/mass_parameters.xacro b/model/robots/common/xacro/arm/mass_parameters.xacro
index 4c3148e..70d49be 100644
--- a/model/robots/common/xacro/arm/mass_parameters.xacro
+++ b/model/robots/common/xacro/arm/mass_parameters.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/arm/mass_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/arm/mass_parameters">
 
   <xacro:property name="ShoulderPitchLinkMass" value="2.65" />
   <xacro:property name="ShoulderPitchLinkComPosition" value="-0.012000 ${reflect*0.251000} 0.000000" />
diff --git a/model/robots/common/xacro/common_bodies.xacro b/model/robots/common/xacro/common_bodies.xacro
index 29ee26b..0d92210 100644
--- a/model/robots/common/xacro/common_bodies.xacro
+++ b/model/robots/common/xacro/common_bodies.xacro
@@ -1,11 +1,11 @@
-<robot xmlns:xacro="http://ros.orgt/wiki/xacro" name="common_bodies">
-    <xacro:include filename="common/xacro/pelvis/pelvis.xacro" />
-    <xacro:include filename="common/xacro/waist/waist.xacro" />
-    <xacro:include filename="common/xacro/head/head.xacro" />
-    <xacro:include filename="common/xacro/arm/arm.xacro" />
-    <xacro:include filename="common/xacro/thumb/thumb.xacro" />
-    <xacro:include filename="common/xacro/leg/leg.xacro" />
-    <xacro:include filename="common/xacro/index_finger/index_finger.xacro" />
-    <xacro:include filename="common/xacro/middle_finger/middle_finger.xacro" />
-    <xacro:include filename="common/xacro/pinky_finger/pinky_finger.xacro" />
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="common_bodies">
+    <xacro:include filename="pelvis/pelvis.xacro" />
+    <xacro:include filename="waist/waist.xacro" />
+    <xacro:include filename="head/head.xacro" />
+    <xacro:include filename="arm/arm.xacro" />
+    <xacro:include filename="thumb/thumb.xacro" />
+    <xacro:include filename="leg/leg.xacro" />
+    <xacro:include filename="index_finger/index_finger.xacro" />
+    <xacro:include filename="middle_finger/middle_finger.xacro" />
+    <xacro:include filename="pinky_finger/pinky_finger.xacro" />
 </robot>
\ No newline at end of file
diff --git a/model/robots/common/xacro/generic_models.xacro b/model/robots/common/xacro/generic_models.xacro
index ff071b1..c6fe32b 100644
--- a/model/robots/common/xacro/generic_models.xacro
+++ b/model/robots/common/xacro/generic_models.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="generic_models">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="generic_models">
 
   <xacro:macro name="v1_actuator" params="name api">
     <actuator name="${name}" type="${api}"/>
diff --git a/model/robots/common/xacro/head/frame_parameters.xacro b/model/robots/common/xacro/head/frame_parameters.xacro
index 8d4ade3..f6084f7 100644
--- a/model/robots/common/xacro/head/frame_parameters.xacro
+++ b/model/robots/common/xacro/head/frame_parameters.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/head/dh_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/head/dh_parameters">
 
   <xacro:property name="LowerNeckPitchFrameOrigin_X" value="0.0203518"/>
   <xacro:property name="LowerNeckPitchFrameOrigin_Y" value="0.0"/>
diff --git a/model/robots/common/xacro/head/head.xacro b/model/robots/common/xacro/head/head.xacro
index 7198682..754107d 100644
--- a/model/robots/common/xacro/head/head.xacro
+++ b/model/robots/common/xacro/head/head.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="head">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="head">
 
   <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
   <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
@@ -16,7 +16,15 @@
   </xacro:macro>
 
   <xacro:macro name="make_head" params="head_root_link">
-
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/mass_parameters.xacro"/>
     <xacro:standard_link name="${LowerNeckPitchLinkName}"
                         mass="${LowerNeckPitchLinkMass}"
                         origin_xyz="${LowerNeckPitchLinkComPosition}"
@@ -77,21 +85,57 @@
 
 
     <xacro:macro name="include_multisense_sim">
+      <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+      <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+      <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+      <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/joint_axes.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/link_names.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/joint_limits.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/frame_parameters.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/mass_parameters.xacro"/>
       <xacro:fixed_joint jointName="multisense_head_root_joint" parent="${UpperNeckPitchLinkName}" child="head" origin_xyz="0.183585961 0.0 0.075353826" origin_rpy="-3.14159 0.130899694 0.0" />
     </xacro:macro>
 
     <xacro:macro name="include_multisense_hw">
+      <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+      <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+      <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+      <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/joint_axes.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/link_names.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/joint_limits.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/frame_parameters.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/mass_parameters.xacro"/>
       <xacro:massless_virtual_link name="multisense_root_link" origin_xyz="0 0 0" origin_rpy="0 0 0"/>
       <xacro:fixed_joint jointName="multisense_head_root_joint" parent="${UpperNeckPitchLinkName}" child="multisense_root_link" origin_xyz="0.183585961 0.0 0.075353826" origin_rpy="-3.14159 0.130899694 0.0" />
     </xacro:macro>
 
     <xacro:macro name="neck_transmissions_hw">
+      <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+      <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+      <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+      <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/joint_axes.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/link_names.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/joint_limits.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/frame_parameters.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/mass_parameters.xacro"/>
       <xacro:simple_transmission jointName="${LowerNeckPitchJointName}" actuatorName="${LowerNeckPitchActuatorName}" nodeName="${LowerNeckPitchNode}" actuatorApi="${LowerNeckPitchApi}"/>
       <xacro:simple_transmission jointName="${NeckYawJointName}" actuatorName="${NeckYawActuatorName}" nodeName="${NeckYawNode}" actuatorApi="${NeckYawApi}"/>
       <xacro:simple_transmission jointName="${UpperNeckPitchJointName}" actuatorName="${UpperNeckPitchActuatorName}" nodeName="${UpperNeckPitchNode}" actuatorApi="${UpperNeckPitchApi}"/>
     </xacro:macro>
 
     <xacro:macro name="neck_transmissions_sim">
+      <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+      <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+      <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+      <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/joint_axes.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/link_names.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/joint_limits.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/frame_parameters.xacro"/>
+      <xacro:include filename="$(find val_description)/model/robots/common/xacro/head/mass_parameters.xacro"/>
       <xacro:simple_transmission jointName="${LowerNeckPitchJointName}" actuatorName="${LowerNeckPitchActuatorName}" nodeName="${LowerNeckPitchNode}" actuatorApi="${SimApi}"/>
       <xacro:simple_transmission jointName="${NeckYawJointName}" actuatorName="${NeckYawActuatorName}" nodeName="${NeckYawNode}" actuatorApi="${SimApi}"/>
       <xacro:simple_transmission jointName="${UpperNeckPitchJointName}" actuatorName="${UpperNeckPitchActuatorName}" nodeName="${UpperNeckPitchNode}" actuatorApi="${SimApi}"/>
diff --git a/model/robots/common/xacro/head/joint_axes.xacro b/model/robots/common/xacro/head/joint_axes.xacro
index 35fe5f1..8b7a6a8 100644
--- a/model/robots/common/xacro/head/joint_axes.xacro
+++ b/model/robots/common/xacro/head/joint_axes.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="neck_joint_rotation_axes">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="neck_joint_rotation_axes">
 
 <xacro:property name="LowerNeckPitchRotationAxis" value="0 1 0"/>
 <xacro:property name="NeckYawRotationAxis" value="0 0 1"/>
diff --git a/model/robots/common/xacro/head/joint_limits.xacro b/model/robots/common/xacro/head/joint_limits.xacro
index 5fbf723..b00ccbf 100644
--- a/model/robots/common/xacro/head/joint_limits.xacro
+++ b/model/robots/common/xacro/head/joint_limits.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/head/joint_limits">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/head/joint_limits">
   
   <xacro:property name="LowerNeckPitchTorqueLimit" value="26" />
   <xacro:property name="NeckYawTorqueLimit" value="26" />
diff --git a/model/robots/common/xacro/head/link_names.xacro b/model/robots/common/xacro/head/link_names.xacro
index 61c45c4..da17c26 100644
--- a/model/robots/common/xacro/head/link_names.xacro
+++ b/model/robots/common/xacro/head/link_names.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/head/link_names">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/head/link_names">
 
   <xacro:property name="LowerNeckPitchParentLinkName" value="${head_root_link}" />
   <xacro:property name="LowerNeckPitchLinkName" value="lowerNeckPitchLink" />
diff --git a/model/robots/common/xacro/head/mass_parameters.xacro b/model/robots/common/xacro/head/mass_parameters.xacro
index abc0a21..cf2748f 100644
--- a/model/robots/common/xacro/head/mass_parameters.xacro
+++ b/model/robots/common/xacro/head/mass_parameters.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/head/mass_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/head/mass_parameters">
   
   <xacro:property name="LowerNeckPitchLinkMass" value="1.05" />
   <xacro:property name="LowerNeckPitchLinkComPosition" value="-0.020000 0.000000  0.040000" />
diff --git a/model/robots/common/xacro/index_finger/frame_parameters.xacro b/model/robots/common/xacro/index_finger/frame_parameters.xacro
index 4a140b8..c9ffa54 100644
--- a/model/robots/common/xacro/index_finger/frame_parameters.xacro
+++ b/model/robots/common/xacro/index_finger/frame_parameters.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/index_finger/dh_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/index_finger/dh_parameters">
 
   <xacro:property name="IndexFingerPitch1FrameOrigin_X" value="0.0022"/>
   <xacro:property name="IndexFingerPitch1FrameOrigin_Y" value="${reflect * 0.0976}"/>
diff --git a/model/robots/common/xacro/index_finger/index_finger.xacro b/model/robots/common/xacro/index_finger/index_finger.xacro
index 1851d6d..bb624af 100644
--- a/model/robots/common/xacro/index_finger/index_finger.xacro
+++ b/model/robots/common/xacro/index_finger/index_finger.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/index_finger">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/index_finger">
 
   <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
   <xacro:include filename="$(find val_description)/model/robots/common/xacro/index_finger/joint_axes.xacro"/>
@@ -9,7 +9,12 @@
   <xacro:include filename="$(find val_description)/model/robots/common/xacro/index_finger/mass_parameters.xacro"/>
 
   <xacro:macro name="make_index_finger" params="prefix reflect index_finger_root_link">
-    
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/index_finger/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/index_finger/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/index_finger/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/index_finger/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/index_finger/mass_parameters.xacro"/>
     <xacro:standard_link name="${IndexFingerPitch1LinkName}" 
                     mass="${IndexFingerPitch1LinkMass}" 
                     origin_xyz="${IndexFingerPitch1ComPosition}"
@@ -78,10 +83,22 @@
   </xacro:macro>
 
   <xacro:macro name="v1_right_index_finger_actuators" params="prefix api">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/index_finger/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/index_finger/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/index_finger/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/index_finger/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/index_finger/mass_parameters.xacro"/>
     <xacro:v1_actuator name="${RPFA_Actuator_Name}" api="${api}" />
   </xacro:macro>
 
   <xacro:macro name="v1_left_index_finger_actuators" params="prefix api">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/index_finger/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/index_finger/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/index_finger/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/index_finger/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/index_finger/mass_parameters.xacro"/>
     <xacro:v1_actuator name="${LPFA_Actuator_Name}" api="${api}" />
   </xacro:macro>
 
diff --git a/model/robots/common/xacro/index_finger/joint_axes.xacro b/model/robots/common/xacro/index_finger/joint_axes.xacro
index 48c9a0f..a4403d4 100644
--- a/model/robots/common/xacro/index_finger/joint_axes.xacro
+++ b/model/robots/common/xacro/index_finger/joint_axes.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="index_finger_joint_rotation_axes">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="index_finger_joint_rotation_axes">
 
 <xacro:property name="IndexFingerPitch1RotationAxis" value="0 0 1"/>
 <xacro:property name="IndexFingerPitch2RotationAxis" value="0 0 1"/>
diff --git a/model/robots/common/xacro/index_finger/joint_limits.xacro b/model/robots/common/xacro/index_finger/joint_limits.xacro
index d012752..e6e7254 100644
--- a/model/robots/common/xacro/index_finger/joint_limits.xacro
+++ b/model/robots/common/xacro/index_finger/joint_limits.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/index_finger/joint_limits">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/index_finger/joint_limits">
 
   <xacro:property name="IndexFingerPitch1TorqueLimit" value="10" />
   <xacro:property name="IndexFingerPitch2TorqueLimit" value="10" />
diff --git a/model/robots/common/xacro/index_finger/link_names.xacro b/model/robots/common/xacro/index_finger/link_names.xacro
index 2fe3cfd..a3ced4f 100644
--- a/model/robots/common/xacro/index_finger/link_names.xacro
+++ b/model/robots/common/xacro/index_finger/link_names.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/index_finger/dh_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/index_finger/dh_parameters">
 
   <xacro:property name="IndexFingerPitch1ParentLinkName" value="${index_finger_root_link}" />
   <xacro:property name="IndexFingerPitch1LinkName" value="${prefix}IndexFingerPitch1Link" />
diff --git a/model/robots/common/xacro/index_finger/mass_parameters.xacro b/model/robots/common/xacro/index_finger/mass_parameters.xacro
index 7dfbaf2..69676f2 100644
--- a/model/robots/common/xacro/index_finger/mass_parameters.xacro
+++ b/model/robots/common/xacro/index_finger/mass_parameters.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/index_finger/mass_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/index_finger/mass_parameters">
   
   <xacro:property name="IndexFingerPitch1LinkMass" value="0.02" />
   <xacro:property name="IndexFingerPitch1ComPosition" value="0 ${reflect*0.02} 0" />
diff --git a/model/robots/common/xacro/leg/frame_parameters.xacro b/model/robots/common/xacro/leg/frame_parameters.xacro
index e85dec6..4fc2716 100644
--- a/model/robots/common/xacro/leg/frame_parameters.xacro
+++ b/model/robots/common/xacro/leg/frame_parameters.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/leg/dh_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/leg/dh_parameters">
 
   <xacro:property name="HipYawFrameOrigin_X" value="0.0"/>
   <xacro:property name="HipYawFrameOrigin_Y" value="${reflect * 0.1016}"/>
diff --git a/model/robots/common/xacro/leg/joint_axes.xacro b/model/robots/common/xacro/leg/joint_axes.xacro
index b6103ae..5d5ea48 100644
--- a/model/robots/common/xacro/leg/joint_axes.xacro
+++ b/model/robots/common/xacro/leg/joint_axes.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="arm_joint_rotation_axes">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="arm_joint_rotation_axes">
 
 <xacro:property name="HipYawRotationAxis" value="0 0 1"/>
 <xacro:property name="HipRollRotationAxis" value="1 0 0"/>
diff --git a/model/robots/common/xacro/leg/joint_limits.xacro b/model/robots/common/xacro/leg/joint_limits.xacro
index e37b6d2..31b4f16 100644
--- a/model/robots/common/xacro/leg/joint_limits.xacro
+++ b/model/robots/common/xacro/leg/joint_limits.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/leg/joint_limits">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/leg/joint_limits">
 
   <xacro:property name="HipYawTorqueLimit" value="190" />
   <xacro:property name="HipRollTorqueLimit" value="350" />
diff --git a/model/robots/common/xacro/leg/leg.xacro b/model/robots/common/xacro/leg/leg.xacro
index 607f5b5..d6b5ee3 100644
--- a/model/robots/common/xacro/leg/leg.xacro
+++ b/model/robots/common/xacro/leg/leg.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="leg">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="leg">
   <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
   <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
   <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
@@ -12,6 +12,16 @@
   <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/ati_force_torque.xacro"/>
 
   <xacro:macro name="make_leg_links" params="prefix reflect leg_root_link">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/mass_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/ati_force_torque.xacro"/>
     <xacro:standard_link name="${HipYawLinkName}"
                     mass="${HipYawLinkMass}"
                     origin_xyz="${HipYawLinkComPosition}" origin_rpy="0 0 0" 
@@ -72,8 +82,18 @@
   </xacro:macro>
 
   <xacro:macro name="make_leg_joints" params="prefix reflect leg_root_link">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/mass_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/ati_force_torque.xacro"/>
     <xacro:revolute_joint_ex jointName="${HipYawJointName}"
-                          parent="${HipYawParentLinkName}" child="${HipYawLinkName}"
+                          parent="${leg_root_link}" child="${HipYawLinkName}"
                           origin_xyz="${HipYawFrameOrigin_X} ${HipYawFrameOrigin_Y} ${HipYawFrameOrigin_Z}"
                           origin_rpy="${HipYawFrameOrientation_Roll} ${HipYawFrameOrientation_Pitch} ${HipYawFrameOrientation_Yaw}" 
                           axis="${HipYawRotationAxis}"
@@ -124,6 +144,16 @@
   </xacro:macro>
 
   <xacro:macro name="make_ankle_joints" params="prefix reflect leg_root_link">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/mass_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/ati_force_torque.xacro"/>
 
     <xacro:revolute_joint_ex jointName="${AnklePitchJointName}"
                           parent="${KneePitchLinkName}" child="${AnklePitchLinkName}"
@@ -147,12 +177,32 @@
   </xacro:macro>
 
   <xacro:macro name="make_leg" params="prefix reflect leg_root_link">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/mass_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/ati_force_torque.xacro"/>
     <xacro:make_leg_links prefix="${prefix}" reflect="${reflect}" leg_root_link="${leg_root_link}" />
     <xacro:make_leg_joints prefix="${prefix}" reflect="${reflect}" leg_root_link="${leg_root_link}" />
     <xacro:make_ankle_joints prefix="${prefix}" reflect="${reflect}" leg_root_link="${leg_root_link}" />
   </xacro:macro>
 
   <xacro:macro name="v1_leg_sensors" params="prefix reflect ATI_serial_number ATI_node">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/mass_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/ati_force_torque.xacro"/>
 
     <xacro:virtual_fixed_frame_offset name="${prefix}COP"
                        parentLink="${AnkleRollLinkName}"
@@ -170,6 +220,16 @@
   </xacro:macro>
 
   <xacro:macro name="leg_transmissions_hw" params="prefix">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/mass_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/ati_force_torque.xacro"/>
     <xacro:simple_transmission jointName="${HipYawJointName}" actuatorName="${HipYawActuatorName}" nodeName="${HipYawNode}" actuatorApi="${HipYawApi}"/>
     <xacro:simple_transmission jointName="${HipRollJointName}" actuatorName="${HipRollActuatorName}" nodeName="${HipRollNode}" actuatorApi="${HipRollApi}"/>
     <xacro:simple_transmission jointName="${HipPitchJointName}" actuatorName="${HipPitchActuatorName}" nodeName="${HipPitchNode}" actuatorApi="${HipPitchApi}"/>
@@ -178,6 +238,16 @@
   </xacro:macro>
 
   <xacro:macro name="leg_transmissions_sim" params="prefix">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/leg/mass_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/ati_force_torque.xacro"/>
     <xacro:simple_transmission jointName="${HipYawJointName}" actuatorName="${HipYawActuatorName}" nodeName="${HipYawNode}" actuatorApi="${SimApi}"/>
     <xacro:simple_transmission jointName="${HipRollJointName}" actuatorName="${HipRollActuatorName}" nodeName="${HipRollNode}" actuatorApi="${SimApi}"/>
     <xacro:simple_transmission jointName="${HipPitchJointName}" actuatorName="${HipPitchActuatorName}" nodeName="${HipPitchNode}" actuatorApi="${SimApi}"/>
diff --git a/model/robots/common/xacro/leg/link_names.xacro b/model/robots/common/xacro/leg/link_names.xacro
index fe7dd01..cf2d48c 100644
--- a/model/robots/common/xacro/leg/link_names.xacro
+++ b/model/robots/common/xacro/leg/link_names.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="leg_link_names">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="leg_link_names">
   
   <xacro:property name="HipYawParentLinkName" value="${leg_root_link}" />
   <xacro:property name="HipYawLinkName" value="${prefix}HipYawLink" />
diff --git a/model/robots/common/xacro/leg/mass_parameters.xacro b/model/robots/common/xacro/leg/mass_parameters.xacro
index d6fd87c..9d208b8 100644
--- a/model/robots/common/xacro/leg/mass_parameters.xacro
+++ b/model/robots/common/xacro/leg/mass_parameters.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="leg_mass_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="leg_mass_parameters">
  
   <xacro:property name="HipYawLinkMass" value="2.39" />
   <xacro:property name="HipYawLinkComPosition" value="0.02176 ${reflect*-0.00131} 0.03867" />
diff --git a/model/robots/common/xacro/middle_finger/frame_parameters.xacro b/model/robots/common/xacro/middle_finger/frame_parameters.xacro
index 7e2efa0..82c9996 100644
--- a/model/robots/common/xacro/middle_finger/frame_parameters.xacro
+++ b/model/robots/common/xacro/middle_finger/frame_parameters.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/middle_finger/dh_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/middle_finger/dh_parameters">
 
   <xacro:property name="MiddleFingerPitch1FrameOrigin_X" value="0.0022"/>
   <xacro:property name="MiddleFingerPitch1FrameOrigin_Y" value="${reflect * 0.097}"/>
diff --git a/model/robots/common/xacro/middle_finger/joint_axes.xacro b/model/robots/common/xacro/middle_finger/joint_axes.xacro
index 78e0f79..b567deb 100644
--- a/model/robots/common/xacro/middle_finger/joint_axes.xacro
+++ b/model/robots/common/xacro/middle_finger/joint_axes.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="middle_finger_joint_rotation_axes">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="middle_finger_joint_rotation_axes">
 
 <xacro:property name="MiddleFingerPitch1RotationAxis" value="0 0 1"/>
 <xacro:property name="MiddleFingerPitch2RotationAxis" value="0 0 1"/>
diff --git a/model/robots/common/xacro/middle_finger/joint_limits.xacro b/model/robots/common/xacro/middle_finger/joint_limits.xacro
index 33ce369..34314ba 100644
--- a/model/robots/common/xacro/middle_finger/joint_limits.xacro
+++ b/model/robots/common/xacro/middle_finger/joint_limits.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/middle_finger/joint_limits">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/middle_finger/joint_limits">
 
   <xacro:property name="MiddleFingerPitch1TorqueLimit" value="10" />
   <xacro:property name="MiddleFingerPitch2TorqueLimit" value="10" />
diff --git a/model/robots/common/xacro/middle_finger/link_names.xacro b/model/robots/common/xacro/middle_finger/link_names.xacro
index e384690..cd823fc 100644
--- a/model/robots/common/xacro/middle_finger/link_names.xacro
+++ b/model/robots/common/xacro/middle_finger/link_names.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/middle_finger/dh_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/middle_finger/dh_parameters">
   
   <xacro:property name="MiddleFingerPitch1ParentLinkName" value="${middle_finger_root_link}" />
   <xacro:property name="MiddleFingerPitch1LinkName" value="${prefix}MiddleFingerPitch1Link" />
diff --git a/model/robots/common/xacro/middle_finger/mass_parameters.xacro b/model/robots/common/xacro/middle_finger/mass_parameters.xacro
index 47597d6..527a85d 100644
--- a/model/robots/common/xacro/middle_finger/mass_parameters.xacro
+++ b/model/robots/common/xacro/middle_finger/mass_parameters.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/middle_finger/mass_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/middle_finger/mass_parameters">
   
   <xacro:property name="MiddleFingerPitch1LinkMass" value="0.02" />
   <xacro:property name="MiddleFingerPitch1ComPosition" value="0 ${reflect*0.02} 0" />
diff --git a/model/robots/common/xacro/middle_finger/middle_finger.xacro b/model/robots/common/xacro/middle_finger/middle_finger.xacro
index ffa403c..51607df 100644
--- a/model/robots/common/xacro/middle_finger/middle_finger.xacro
+++ b/model/robots/common/xacro/middle_finger/middle_finger.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="middle_finger">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="middle_finger">
 
   <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
   <xacro:include filename="$(find val_description)/model/robots/common/xacro/middle_finger/joint_axes.xacro"/>
@@ -9,7 +9,12 @@
   <xacro:include filename="$(find val_description)/model/robots/common/xacro/middle_finger/mass_parameters.xacro"/>
 
   <xacro:macro name="make_middle_finger" params="prefix reflect middle_finger_root_link">
-
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/middle_finger/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/middle_finger/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/middle_finger/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/middle_finger/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/middle_finger/mass_parameters.xacro"/>
     <xacro:standard_link name="${MiddleFingerPitch1LinkName}" 
                     mass="${MiddleFingerPitch1LinkMass}" 
                     origin_xyz="${MiddleFingerPitch1ComPosition}"
@@ -78,10 +83,22 @@
   </xacro:macro>
 
   <xacro:macro name="v1_right_middle_finger_actuators" params="prefix api">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/middle_finger/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/middle_finger/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/middle_finger/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/middle_finger/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/middle_finger/mass_parameters.xacro"/>
     <xacro:v1_actuator name="${RMFA_Actuator_Name}" api="${api}" />
   </xacro:macro>
 
   <xacro:macro name="v1_left_middle_finger_actuators" params="prefix api">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/middle_finger/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/middle_finger/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/middle_finger/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/middle_finger/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/middle_finger/mass_parameters.xacro"/>
     <xacro:v1_actuator name="${LMFA_Actuator_Name}" api="${api}" />
   </xacro:macro>
 
diff --git a/model/robots/common/xacro/pelvis/pelvis.xacro b/model/robots/common/xacro/pelvis/pelvis.xacro
index 3df5b03..08fcce6 100644
--- a/model/robots/common/xacro/pelvis/pelvis.xacro
+++ b/model/robots/common/xacro/pelvis/pelvis.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="Pelvis">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="Pelvis">
     <xacro:property name="Pelvis_Link_Name" value="pelvis" />
 
     <xacro:macro name="make_pelvis">
diff --git a/model/robots/common/xacro/pinky_finger/frame_parameters.xacro b/model/robots/common/xacro/pinky_finger/frame_parameters.xacro
index 8de9380..08782b4 100644
--- a/model/robots/common/xacro/pinky_finger/frame_parameters.xacro
+++ b/model/robots/common/xacro/pinky_finger/frame_parameters.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/pinky_finger/dh_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/pinky_finger/dh_parameters">
 
  <xacro:property name="PinkyPitch1FrameOrigin_X" value="0.0022"/>
   <xacro:property name="PinkyPitch1FrameOrigin_Y" value="${reflect * 0.0838}"/>
diff --git a/model/robots/common/xacro/pinky_finger/joint_axes.xacro b/model/robots/common/xacro/pinky_finger/joint_axes.xacro
index dc80809..3ac4a1b 100644
--- a/model/robots/common/xacro/pinky_finger/joint_axes.xacro
+++ b/model/robots/common/xacro/pinky_finger/joint_axes.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="pinky_finger_joint_rotation_axes">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="pinky_finger_joint_rotation_axes">
 
 <xacro:property name="PinkyFingerPitch1RotationAxis" value="0 0 1"/>
 <xacro:property name="PinkyFingerPitch2RotationAxis" value="0 0 1"/>
diff --git a/model/robots/common/xacro/pinky_finger/joint_limits.xacro b/model/robots/common/xacro/pinky_finger/joint_limits.xacro
index 12693ba..e00dcca 100644
--- a/model/robots/common/xacro/pinky_finger/joint_limits.xacro
+++ b/model/robots/common/xacro/pinky_finger/joint_limits.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/pinky_finger/joint_limits">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/pinky_finger/joint_limits">
 
   <xacro:property name="PinkyFingerPitch1TorqueLimit" value="10" />
   <xacro:property name="PinkyFingerPitch2TorqueLimit" value="10" />
diff --git a/model/robots/common/xacro/pinky_finger/link_names.xacro b/model/robots/common/xacro/pinky_finger/link_names.xacro
index 85bb215..9a4210c 100644
--- a/model/robots/common/xacro/pinky_finger/link_names.xacro
+++ b/model/robots/common/xacro/pinky_finger/link_names.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/pinky_finger/dh_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/pinky_finger/dh_parameters">
   
   <xacro:property name="PinkyPitch1ParentLinkName" value="${pinky_finger_root_link}" />
   <xacro:property name="PinkyPitch1LinkName" value="${prefix}PinkyPitch1Link" />
diff --git a/model/robots/common/xacro/pinky_finger/mass_parameters.xacro b/model/robots/common/xacro/pinky_finger/mass_parameters.xacro
index dc5b795..c0191b1 100644
--- a/model/robots/common/xacro/pinky_finger/mass_parameters.xacro
+++ b/model/robots/common/xacro/pinky_finger/mass_parameters.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/pinky_finger/mass_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/pinky_finger/mass_parameters">
   
   <xacro:property name="PinkyPitch1LinkMass" value="0.02" />
   <xacro:property name="PinkyFingerPitch1ComPosition" value="0 ${reflect*0.02} 0" />
diff --git a/model/robots/common/xacro/pinky_finger/pinky_finger.xacro b/model/robots/common/xacro/pinky_finger/pinky_finger.xacro
index 488705a..d07d7f6 100644
--- a/model/robots/common/xacro/pinky_finger/pinky_finger.xacro
+++ b/model/robots/common/xacro/pinky_finger/pinky_finger.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="pinky_finger">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="pinky_finger">
 
   <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
   <xacro:include filename="$(find val_description)/model/robots/common/xacro/pinky_finger/joint_axes.xacro"/>
@@ -9,7 +9,12 @@
   <xacro:include filename="$(find val_description)/model/robots/common/xacro/pinky_finger/mass_parameters.xacro"/>
 
   <xacro:macro name="make_pinky_finger" params="prefix reflect pinky_finger_root_link">
-
+  <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+  <xacro:include filename="$(find val_description)/model/robots/common/xacro/pinky_finger/joint_axes.xacro"/>
+  <xacro:include filename="$(find val_description)/model/robots/common/xacro/pinky_finger/link_names.xacro"/>
+  <xacro:include filename="$(find val_description)/model/robots/common/xacro/pinky_finger/joint_limits.xacro"/>
+  <xacro:include filename="$(find val_description)/model/robots/common/xacro/pinky_finger/frame_parameters.xacro"/>
+  <xacro:include filename="$(find val_description)/model/robots/common/xacro/pinky_finger/mass_parameters.xacro"/>
     <xacro:standard_link name="${PinkyPitch1LinkName}"
                     mass="${PinkyPitch1LinkMass}"
                     origin_xyz="${PinkyFingerPitch1ComPosition}"
@@ -79,10 +84,22 @@
   </xacro:macro>
 
   <xacro:macro name="v1_right_pinky_finger_actuators" params="prefix api">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/pinky_finger/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/pinky_finger/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/pinky_finger/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/pinky_finger/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/pinky_finger/mass_parameters.xacro"/>
     <xacro:v1_actuator name="${RLFA_Actuator_Name}" api="${api}" />
   </xacro:macro>
 
   <xacro:macro name="v1_left_pinky_finger_actuators" params="prefix api">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/pinky_finger/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/pinky_finger/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/pinky_finger/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/pinky_finger/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/pinky_finger/mass_parameters.xacro"/>
     <xacro:v1_actuator name="${LLFA_Actuator_Name}" api="${api}" />
   </xacro:macro>
   
diff --git a/model/robots/common/xacro/sensors/ati_force_torque.xacro b/model/robots/common/xacro/sensors/ati_force_torque.xacro
index 2767da1..c197ff4 100644
--- a/model/robots/common/xacro/sensors/ati_force_torque.xacro
+++ b/model/robots/common/xacro/sensors/ati_force_torque.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ati_force_torque_sensor">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ati_force_torque_sensor">
   <xacro:macro name="ati_force_torque_sensor" params="sensorName parentLink joint_to_attach_sensor_to origin_xyz origin_rpy sensor_number sensor_node sensor_api">
              
     <gazebo reference="${joint_to_attach_sensor_to}">          	
diff --git a/model/robots/common/xacro/sensors/flea.xacro b/model/robots/common/xacro/sensors/flea.xacro
index be324ca..6e829c4 100644
--- a/model/robots/common/xacro/sensors/flea.xacro
+++ b/model/robots/common/xacro/sensors/flea.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="flea">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="flea">
 
   <xacro:property name="FleaWidth" value="0.029"/>
   <xacro:property name="FleaHeight" value="0.029"/>
diff --git a/model/robots/common/xacro/sensors/microstrain.xacro b/model/robots/common/xacro/sensors/microstrain.xacro
index fbbc726..5fa2a93 100644
--- a/model/robots/common/xacro/sensors/microstrain.xacro
+++ b/model/robots/common/xacro/sensors/microstrain.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="microstrain">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="microstrain">
 
   <xacro:macro name="microstrain_sensor" params="sensorName parentLink origin_xyz origin_rpy">
     
diff --git a/model/robots/common/xacro/thumb/frame_parameters.xacro b/model/robots/common/xacro/thumb/frame_parameters.xacro
index 2f7aba8..4d8ff1b 100644
--- a/model/robots/common/xacro/thumb/frame_parameters.xacro
+++ b/model/robots/common/xacro/thumb/frame_parameters.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/thumb/dh_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/thumb/dh_parameters">
 
   <xacro:property name="ThumbRollFrameOrigin_X" value="0.0049"/>
   <xacro:property name="ThumbRollFrameOrigin_Y" value="${reflect * 0.0351}"/>
diff --git a/model/robots/common/xacro/thumb/joint_axes.xacro b/model/robots/common/xacro/thumb/joint_axes.xacro
index 0aa7751..8dc22dc 100644
--- a/model/robots/common/xacro/thumb/joint_axes.xacro
+++ b/model/robots/common/xacro/thumb/joint_axes.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="thumb_joint_rotation_axes">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="thumb_joint_rotation_axes">
 
 <xacro:property name="ThumbRollRotationAxis" value="0 1 0"/>
 <xacro:property name="ThumbPitch1RotationAxis" value="1 0 0"/>
diff --git a/model/robots/common/xacro/thumb/joint_limits.xacro b/model/robots/common/xacro/thumb/joint_limits.xacro
index c7fa177..b8ea768 100644
--- a/model/robots/common/xacro/thumb/joint_limits.xacro
+++ b/model/robots/common/xacro/thumb/joint_limits.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/thumb/joint_limits">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/thumb/joint_limits">
 
   <xacro:property name="ThumbRollTorqueLimit" value="10" />
   <xacro:property name="ThumbPitch1TorqueLimit" value="10" />
diff --git a/model/robots/common/xacro/thumb/link_names.xacro b/model/robots/common/xacro/thumb/link_names.xacro
index 6ac4850..89a4447 100644
--- a/model/robots/common/xacro/thumb/link_names.xacro
+++ b/model/robots/common/xacro/thumb/link_names.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/thumb/dh_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/thumb/dh_parameters">
   
   <xacro:property name="ThumbRollParentLinkName" value="${thumb_root_link}" />
   <xacro:property name="ThumbRollLinkName" value="${prefix}ThumbRollLink" />
diff --git a/model/robots/common/xacro/thumb/mass_parameters.xacro b/model/robots/common/xacro/thumb/mass_parameters.xacro
index f8c5831..863a758 100644
--- a/model/robots/common/xacro/thumb/mass_parameters.xacro
+++ b/model/robots/common/xacro/thumb/mass_parameters.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/thumb/mass_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/thumb/mass_parameters">
 
   <xacro:property name="ThumbRollLinkMass" value="0.017" />
   <xacro:property name="ThumbRollLinkComPosition" value="0 ${reflect*0} 0.01" />
diff --git a/model/robots/common/xacro/thumb/thumb.xacro b/model/robots/common/xacro/thumb/thumb.xacro
index def0b93..4e6fd66 100644
--- a/model/robots/common/xacro/thumb/thumb.xacro
+++ b/model/robots/common/xacro/thumb/thumb.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="thumb">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="thumb">
   
   <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
   <xacro:include filename="$(find val_description)/model/robots/common/xacro/thumb/joint_axes.xacro"/>
@@ -9,6 +9,12 @@
   <xacro:include filename="$(find val_description)/model/robots/common/xacro/thumb/mass_parameters.xacro"/>
 
   <xacro:macro name="make_thumb" params="prefix reflect thumb_root_link">
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/thumb/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/thumb/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/thumb/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/thumb/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/thumb/mass_parameters.xacro"/>
     <xacro:standard_link name="${ThumbRollLinkName}"
                     mass="${ThumbRollLinkMass}"
                     origin_xyz="${ThumbRollLinkComPosition}"
diff --git a/model/robots/common/xacro/valkyrie_base_hw.xacro b/model/robots/common/xacro/valkyrie_base_hw.xacro
index 0c7fb3e..95ae06c 100644
--- a/model/robots/common/xacro/valkyrie_base_hw.xacro
+++ b/model/robots/common/xacro/valkyrie_base_hw.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie">
 
     <xacro:make_pelvis />
     <xacro:make_waist waist_root_link="${Pelvis_Link_Name}" />
diff --git a/model/robots/common/xacro/valkyrie_base_sim.xacro b/model/robots/common/xacro/valkyrie_base_sim.xacro
index 07c29cd..1c5f253 100644
--- a/model/robots/common/xacro/valkyrie_base_sim.xacro
+++ b/model/robots/common/xacro/valkyrie_base_sim.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie">
 
 
     <gazebo>
diff --git a/model/robots/common/xacro/valkyrie_no_hands_base_hw.xacro b/model/robots/common/xacro/valkyrie_no_hands_base_hw.xacro
index ae97155..5dd38fb 100644
--- a/model/robots/common/xacro/valkyrie_no_hands_base_hw.xacro
+++ b/model/robots/common/xacro/valkyrie_no_hands_base_hw.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie">
 
     <xacro:make_pelvis />
     <xacro:make_waist waist_root_link="${Pelvis_Link_Name}" />
diff --git a/model/robots/common/xacro/waist/frame_parameters.xacro b/model/robots/common/xacro/waist/frame_parameters.xacro
index dfb8841..41bfb28 100644
--- a/model/robots/common/xacro/waist/frame_parameters.xacro
+++ b/model/robots/common/xacro/waist/frame_parameters.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/waist/dh_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/waist/dh_parameters">
 
   <xacro:property name="TorsoYawFrameOrigin_X" value="0.0"/>
   <xacro:property name="TorsoYawFrameOrigin_Y" value="0.0"/>
diff --git a/model/robots/common/xacro/waist/joint_axes.xacro b/model/robots/common/xacro/waist/joint_axes.xacro
index fbf626d..978b935 100644
--- a/model/robots/common/xacro/waist/joint_axes.xacro
+++ b/model/robots/common/xacro/waist/joint_axes.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="leg_joint_rotation_axes">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="leg_joint_rotation_axes">
 
 <xacro:property name="TorsoYawRotationAxis" value="0 0 1"/>
 <xacro:property name="TorsoPitchRotationAxis" value="0 1 0"/>
diff --git a/model/robots/common/xacro/waist/joint_limits.xacro b/model/robots/common/xacro/waist/joint_limits.xacro
index 8ed78cf..4a6c5c7 100644
--- a/model/robots/common/xacro/waist/joint_limits.xacro
+++ b/model/robots/common/xacro/waist/joint_limits.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/waist/joint_limits">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/waist/joint_limits">
   <xacro:property name="TorsoYawTorqueLimit" value="190" />
   <xacro:property name="TorsoPitchTorqueLimit" value="150" />
   <xacro:property name="TorsoRollTorqueLimit" value="150" />
diff --git a/model/robots/common/xacro/waist/link_names.xacro b/model/robots/common/xacro/waist/link_names.xacro
index ca1110e..f402619 100644
--- a/model/robots/common/xacro/waist/link_names.xacro
+++ b/model/robots/common/xacro/waist/link_names.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/waist/dh_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/waist/dh_parameters">
   
   <xacro:property name="TorsoYawParentLinkName" value="${waist_root_link}" />
   <xacro:property name="TorsoYawLinkName" value="torsoYawLink" />
diff --git a/model/robots/common/xacro/waist/mass_parameters.xacro b/model/robots/common/xacro/waist/mass_parameters.xacro
index 2616df5..49eaae8 100644
--- a/model/robots/common/xacro/waist/mass_parameters.xacro
+++ b/model/robots/common/xacro/waist/mass_parameters.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="v1/waist/mass_parameters">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="v1/waist/mass_parameters">
 
 	<xacro:property name="TorsoYawLinkMass" value="0.5" />
   <xacro:property name="TorsoYawLinkComPosition" value="0.000000 0.000000 -0.010000"/>
diff --git a/model/robots/common/xacro/waist/waist.xacro b/model/robots/common/xacro/waist/waist.xacro
index 727aff3..63aa485 100644
--- a/model/robots/common/xacro/waist/waist.xacro
+++ b/model/robots/common/xacro/waist/waist.xacro
@@ -1,20 +1,29 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="waist">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="waist">
 
-  <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
   <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
   <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
   <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
   <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/joint_axes.xacro"/>
-  <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/joint_axes.xacro"/>
-  <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/link_names.xacro"/>
   <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/joint_limits.xacro"/>
+  <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+  <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/link_names.xacro"/>
   <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/frame_parameters.xacro"/>
   <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/mass_parameters.xacro"/>
   <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/microstrain.xacro"/>
   <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/flea.xacro"/>
 
   <xacro:macro name="make_waist_common" params="waist_root_link">
-
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/mass_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/microstrain.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/flea.xacro"/>
     <xacro:revolute_joint_ex jointName="${TorsoYawJointName}"
                           parent="${TorsoYawParentLinkName}" child="${TorsoYawLinkName}"
                           origin_xyz="${TorsoYawFrameOrigin_X} ${TorsoYawFrameOrigin_Y} ${TorsoYawFrameOrigin_Z}"
@@ -48,6 +57,17 @@
   </xacro:macro>
 
   <xacro:macro name="make_waist" params="waist_root_link">
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/mass_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/microstrain.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/flea.xacro"/>
     <xacro:standard_link name="${TorsoYawLinkName}"
                     mass="${TorsoYawLinkMass}"
                     origin_rpy="0 0 0"
@@ -79,6 +99,17 @@
   </xacro:macro>
 
   <xacro:macro name="waist_actuators"  params="name1 type1 name2 type2 name3 type3">
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/mass_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/microstrain.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/flea.xacro"/>
     <actuator name="${name1}" type="${type1}"/>
     <actuator name="${name2}" type="${type2}"/>
     <actuator name="${name3}" type="${type3}"/>
@@ -106,11 +137,33 @@
    </xacro:macro>
 
    <xacro:macro name="waist_transmissions_hw">
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/mass_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/microstrain.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/flea.xacro"/>
     <xacro:simple_transmission jointName="${TorsoYawJointName}" actuatorName="${TorsoYawActuatorName}" nodeName="${TrunkYawNode}" actuatorApi="${TrunkYawApi}"/> 
     <xacro:pushrod_transmission transmissionName="waistTransmission" transmissionType="TorsoPushrodTransmission" joint1Name="${TorsoPitchJointName}" joint2Name="${TorsoRollJointName}" joint1Role="pitch" joint2Role="roll" actuator1Name="${WaistRightActuatorName}" actuator2Name="${WaistLeftActuatorName}" actuator1Node="${WaistRightActuatorNode}" actuator2Node="${WaistLeftActuatorNode}" actuator1Api="${WaistRightActuatorApi}" actuator2Api="${WaistLeftActuatorApi}" actuator1Role="right" actuator2Role="left"/>
    </xacro:macro>
 
    <xacro:macro name="waist_transmissions_sim">
+    <xacro:include filename="$(find val_description)/common/xacro/actuator_names/valkyrie_actuator_names.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/nodes/valkyrie_nodes.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/api/valkyrie_api.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/joint_axes.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/joint_limits.xacro"/>
+    <xacro:include filename="$(find val_description)/common/xacro/joint_names/valkyrie_joint_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/link_names.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/frame_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/waist/mass_parameters.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/microstrain.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/sensors/flea.xacro"/>
     <xacro:simple_transmission jointName="${TorsoYawJointName}" actuatorName="${TorsoYawActuatorName}" nodeName="${TrunkYawNode}" actuatorApi="${SimApi}"/> 
     <xacro:simple_transmission jointName="${TorsoPitchJointName}" actuatorName="${WaistPitchActuatorSimName}" nodeName="${WaistPitchActuatorSimNode}" actuatorApi="${SimApi}"/> 
     <xacro:simple_transmission jointName="${TorsoRollJointName}" actuatorName="${WaistRollActuatorSimName}" nodeName="${WaistRollActuatorSimNode}" actuatorApi="${SimApi}"/> 
diff --git a/model/robots/right_knee.xacro b/model/robots/right_knee.xacro
index 326d22b..57bc5ba 100644
--- a/model/robots/right_knee.xacro
+++ b/model/robots/right_knee.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="right_knee">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="right_knee">
 
 	<xacro:property name="prefix" value="right"/>
 	<xacro:property name="reflect" value="-1"/>
diff --git a/model/robots/right_leg.xacro b/model/robots/right_leg.xacro
index 29a1fdc..61c739f 100644
--- a/model/robots/right_leg.xacro
+++ b/model/robots/right_leg.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="right_leg">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="right_leg">
 
     <xacro:property name="mesh_root" value="package://val_description/model/meshes"/>
     <xacro:include filename="$(find val_description)/model/robots/common/xacro/generic_models.xacro" />
diff --git a/model/robots/valkyrie_A_hw.xacro b/model/robots/valkyrie_A_hw.xacro
index 599297e..69af31a 100644
--- a/model/robots/valkyrie_A_hw.xacro
+++ b/model/robots/valkyrie_A_hw.xacro
@@ -1,9 +1,9 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_A_hw">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_A_hw">
 
     <xacro:property name="mesh_root" value="package://val_description/model/meshes"/>
     <xacro:include filename="$(find val_description)/model/robots/common/xacro/generic_models.xacro" />
     <xacro:include filename="$(find val_description)/model/robots/common/xacro/common_bodies.xacro" />
-    <xacro:include filename="$(find val_description)/model/robots/common/xacro/valkyrie_base_hw.xacro"/>
     <xacro:include filename="$(find val_description)/common/xacro/serial_numbers/valkyrie_A_serials.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/valkyrie_base_hw.xacro"/>
 
 </robot>
\ No newline at end of file
diff --git a/model/robots/valkyrie_A_no_hands_hw.xacro b/model/robots/valkyrie_A_no_hands_hw.xacro
index 0c0adbf..dad1f53 100644
--- a/model/robots/valkyrie_A_no_hands_hw.xacro
+++ b/model/robots/valkyrie_A_no_hands_hw.xacro
@@ -1,9 +1,9 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_A_no_hands_hw">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_A_no_hands_hw">
 
     <xacro:property name="mesh_root" value="package://val_description/model/meshes"/>
     <xacro:include filename="$(find val_description)/model/robots/common/xacro/generic_models.xacro" />
     <xacro:include filename="$(find val_description)/model/robots/common/xacro/common_bodies.xacro" />
-    <xacro:include filename="$(find val_description)/model/robots/common/xacro/valkyrie_no_hands_base_hw.xacro"/>
     <xacro:include filename="$(find val_description)/common/xacro/serial_numbers/valkyrie_A_serials.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/valkyrie_no_hands_base_hw.xacro"/>
 
 </robot>
\ No newline at end of file
diff --git a/model/robots/valkyrie_B_hw.xacro b/model/robots/valkyrie_B_hw.xacro
index 7eeb26b..7894087 100644
--- a/model/robots/valkyrie_B_hw.xacro
+++ b/model/robots/valkyrie_B_hw.xacro
@@ -1,9 +1,9 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_B_hw">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_B_hw">
 
     <xacro:property name="mesh_root" value="package://val_description/model/meshes"/>
     <xacro:include filename="$(find val_description)/model/robots/common/xacro/generic_models.xacro" />
     <xacro:include filename="$(find val_description)/model/robots/common/xacro/common_bodies.xacro" />
-    <xacro:include filename="$(find val_description)/model/robots/common/xacro/valkyrie_base_hw.xacro"/>
     <xacro:include filename="$(find val_description)/common/xacro/serial_numbers/valkyrie_B_serials.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/valkyrie_base_hw.xacro"/>
 
 </robot>
diff --git a/model/robots/valkyrie_B_no_hands_hw.xacro b/model/robots/valkyrie_B_no_hands_hw.xacro
index abb15da..9020058 100644
--- a/model/robots/valkyrie_B_no_hands_hw.xacro
+++ b/model/robots/valkyrie_B_no_hands_hw.xacro
@@ -1,9 +1,9 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_B_no_hands_hw">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_B_no_hands_hw">
 
     <xacro:property name="mesh_root" value="package://val_description/model/meshes"/>
     <xacro:include filename="$(find val_description)/model/robots/common/xacro/generic_models.xacro" />
     <xacro:include filename="$(find val_description)/model/robots/common/xacro/common_bodies.xacro" />
-    <xacro:include filename="$(find val_description)/model/robots/common/xacro/valkyrie_no_hands_base_hw.xacro"/>
     <xacro:include filename="$(find val_description)/common/xacro/serial_numbers/valkyrie_B_serials.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/valkyrie_no_hands_base_hw.xacro"/>
 
 </robot>
\ No newline at end of file
diff --git a/model/robots/valkyrie_C_hw.xacro b/model/robots/valkyrie_C_hw.xacro
index a72a3da..6805fed 100644
--- a/model/robots/valkyrie_C_hw.xacro
+++ b/model/robots/valkyrie_C_hw.xacro
@@ -1,9 +1,9 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_C_hw">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_C_hw">
 
     <xacro:property name="mesh_root" value="package://val_description/model/meshes"/>
     <xacro:include filename="$(find val_description)/model/robots/common/xacro/generic_models.xacro" />
     <xacro:include filename="$(find val_description)/model/robots/common/xacro/common_bodies.xacro" />
-    <xacro:include filename="$(find val_description)/model/robots/common/xacro/valkyrie_base_hw.xacro"/>
     <xacro:include filename="$(find val_description)/common/xacro/serial_numbers/valkyrie_C_serials.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/valkyrie_base_hw.xacro"/>
 
 </robot>
diff --git a/model/robots/valkyrie_C_no_hands_hw.xacro b/model/robots/valkyrie_C_no_hands_hw.xacro
index 5d6ba50..dc9e937 100644
--- a/model/robots/valkyrie_C_no_hands_hw.xacro
+++ b/model/robots/valkyrie_C_no_hands_hw.xacro
@@ -1,9 +1,9 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_C_no_hands_hw">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_C_no_hands_hw">
 
     <xacro:property name="mesh_root" value="package://val_description/model/meshes"/>
     <xacro:include filename="$(find val_description)/model/robots/common/xacro/generic_models.xacro" />
     <xacro:include filename="$(find val_description)/model/robots/common/xacro/common_bodies.xacro" />
-    <xacro:include filename="$(find val_description)/model/robots/common/xacro/valkyrie_no_hands_base_hw.xacro"/>
     <xacro:include filename="$(find val_description)/common/xacro/serial_numbers/valkyrie_C_serials.xacro"/>
+    <xacro:include filename="$(find val_description)/model/robots/common/xacro/valkyrie_no_hands_base_hw.xacro"/>
 
 </robot>
\ No newline at end of file
diff --git a/model/robots/valkyrie_sim.xacro b/model/robots/valkyrie_sim.xacro
index e4ccc4a..3dd7d37 100644
--- a/model/robots/valkyrie_sim.xacro
+++ b/model/robots/valkyrie_sim.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_sim">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_sim">
 
     <xacro:property name="mesh_root" value="package://val_description/model/meshes"/>
     <xacro:include filename="$(find val_description)/model/robots/common/xacro/generic_models.xacro" />
diff --git a/model/robots/valkyrie_sim_pinned.xacro b/model/robots/valkyrie_sim_pinned.xacro
index 462651b..b65dd26 100644
--- a/model/robots/valkyrie_sim_pinned.xacro
+++ b/model/robots/valkyrie_sim_pinned.xacro
@@ -1,4 +1,4 @@
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="valkyrie_A_sim_pinned">
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="valkyrie_A_sim_pinned">
 
     <xacro:property name="mesh_root" value="package://val_description/model/meshes"/>
     <xacro:include filename="$(find val_description)/model/robots/common/xacro/generic_models.xacro" />