diff --git a/motoman_bmda3_support/launch/load_bmda3.launch b/motoman_bmda3_support/launch/load_bmda3.launch
index 95b37fd..67aa79b 100644
--- a/motoman_bmda3_support/launch/load_bmda3.launch
+++ b/motoman_bmda3_support/launch/load_bmda3.launch
@@ -1,3 +1,3 @@
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find motoman_bmda3_support)/urdf/bmda3.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_bmda3_support)/urdf/bmda3.xacro'" />
 </launch>
diff --git a/motoman_csda10f_support/launch/load_csda10f.launch b/motoman_csda10f_support/launch/load_csda10f.launch
index bbb8595..080ed2a 100644
--- a/motoman_csda10f_support/launch/load_csda10f.launch
+++ b/motoman_csda10f_support/launch/load_csda10f.launch
@@ -1,4 +1,4 @@
 
 <launch>
-	<param name="robot_description" command="$(find xacro)/xacro.py '$(find motoman_csda10f_support)/urdf/csda10f.xacro'" />
+	<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_csda10f_support)/urdf/csda10f.xacro'" />
 </launch>
diff --git a/motoman_mpl_support/launch/load_mpl80.launch b/motoman_mpl_support/launch/load_mpl80.launch
index a78406f..e0d9f06 100644
--- a/motoman_mpl_support/launch/load_mpl80.launch
+++ b/motoman_mpl_support/launch/load_mpl80.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0" ?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find motoman_mpl_support)/urdf/mpl80.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find motoman_mpl_support)/urdf/mpl80.xacro'" />
 </launch>