diff --git a/motoman_gp12_support/launch/load_gp12.launch b/motoman_gp12_support/launch/load_gp12.launch
index 42b8f6e6..e3462ac2 100644
--- a/motoman_gp12_support/launch/load_gp12.launch
+++ b/motoman_gp12_support/launch/load_gp12.launch
@@ -1,4 +1,4 @@
 
 <launch>
-	<param name="robot_description" command="$(find xacro)/xacro.py '$(find motoman_gp12_support)/urdf/gp12.xacro'" />
+	<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_gp12_support)/urdf/gp12.xacro'" />
 </launch>
diff --git a/motoman_gp7_support/launch/load_gp7.launch b/motoman_gp7_support/launch/load_gp7.launch
index a2f388b4..38e7ef4c 100644
--- a/motoman_gp7_support/launch/load_gp7.launch
+++ b/motoman_gp7_support/launch/load_gp7.launch
@@ -1,4 +1,4 @@
 
 <launch>
-	<param name="robot_description" command="$(find xacro)/xacro.py '$(find motoman_gp7_support)/urdf/gp7.xacro'" />
+	<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_gp7_support)/urdf/gp7.xacro'" />
 </launch>
diff --git a/motoman_gp8_support/launch/load_gp8.launch b/motoman_gp8_support/launch/load_gp8.launch
index af790373..7d5d5140 100644
--- a/motoman_gp8_support/launch/load_gp8.launch
+++ b/motoman_gp8_support/launch/load_gp8.launch
@@ -1,4 +1,4 @@
 
 <launch>
-	<param name="robot_description" command="$(find xacro)/xacro.py '$(find motoman_gp8_support)/urdf/gp8.xacro'" />
+	<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_gp8_support)/urdf/gp8.xacro'" />
 </launch>
diff --git a/motoman_mh50_support/launch/load_mh50.launch b/motoman_mh50_support/launch/load_mh50.launch
index bff6addb..f33ce264 100644
--- a/motoman_mh50_support/launch/load_mh50.launch
+++ b/motoman_mh50_support/launch/load_mh50.launch
@@ -1,4 +1,4 @@
 
 <launch>
-	<param name="robot_description" command="$(find xacro)/xacro.py '$(find motoman_mh50_support)/urdf/mh50.xacro'" />
+	<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_mh50_support)/urdf/mh50.xacro'" />
 </launch>