diff --git a/staubli_resources/urdf/common_colours.xacro b/staubli_resources/urdf/common_colours.xacro
index 41615ba..7329a1b 100644
--- a/staubli_resources/urdf/common_colours.xacro
+++ b/staubli_resources/urdf/common_colours.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
   <!-- colours based on RAL values supplied by Staubli -->
   <!-- all RAL colours converted using http://www.visual-graphics.de/en/customer-care/ral-colours -->
 
diff --git a/staubli_resources/urdf/common_materials.xacro b/staubli_resources/urdf/common_materials.xacro
index a8dfb04..bb9dd56 100644
--- a/staubli_resources/urdf/common_materials.xacro
+++ b/staubli_resources/urdf/common_materials.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:include filename="$(find staubli_resources)/urdf/common_colours.xacro"/>
 
   <!-- default colors for robots -->
diff --git a/staubli_rx160_support/launch/load_rx160.launch b/staubli_rx160_support/launch/load_rx160.launch
index 26e6a04..dd1430b 100644
--- a/staubli_rx160_support/launch/load_rx160.launch
+++ b/staubli_rx160_support/launch/load_rx160.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find staubli_rx160_support)/urdf/rx160.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find staubli_rx160_support)/urdf/rx160.xacro'" />
 </launch>
diff --git a/staubli_rx160_support/launch/load_rx160l.launch b/staubli_rx160_support/launch/load_rx160l.launch
index edab92e..d035422 100644
--- a/staubli_rx160_support/launch/load_rx160l.launch
+++ b/staubli_rx160_support/launch/load_rx160l.launch
@@ -1,4 +1,4 @@
 <?xml version="1.0" ?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find staubli_rx160_support)/urdf/rx160l.xacro'" />
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find staubli_rx160_support)/urdf/rx160l.xacro'" />
 </launch>
diff --git a/staubli_rx160_support/urdf/rx160.xacro b/staubli_rx160_support/urdf/rx160.xacro
index e323939..c3dfe13 100644
--- a/staubli_rx160_support/urdf/rx160.xacro
+++ b/staubli_rx160_support/urdf/rx160.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 
-<robot name="staubli_rx160" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="staubli_rx160" xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:include filename="$(find staubli_rx160_support)/urdf/rx160_macro.xacro"/>
   <xacro:staubli_rx160 prefix=""/>
 </robot>
diff --git a/staubli_rx160_support/urdf/rx160_macro.xacro b/staubli_rx160_support/urdf/rx160_macro.xacro
index e0ce4a1..25a85f3 100644
--- a/staubli_rx160_support/urdf/rx160_macro.xacro
+++ b/staubli_rx160_support/urdf/rx160_macro.xacro
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:include filename="$(find staubli_resources)/urdf/common_materials.xacro"/>
 
   <xacro:macro name="staubli_rx160" params="prefix">
-    <!-- links -->
+    <!-- links: main serial chain -->
     <link name="${prefix}base_link">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -158,15 +158,14 @@
                                                  izz="0.000021"/>
       </inertial>
     </link>
-    <link name="${prefix}tool0"/>
 
-    <!-- joints -->
+    <!-- joints: main serial chain -->
     <joint name="${prefix}joint_1" type="revolute">
       <origin xyz="0 0 0.55" rpy="0 0 0"/>
       <parent link="${prefix}base_link"/>
       <child link="${prefix}link_1"/>
       <axis xyz="0 0 1"/>
-      <limit lower="-2.967060" upper="2.967060" effort="692.0" velocity="2.88" />
+      <limit lower="${radians(-160)}" upper="${radians(160)}" effort="692.0" velocity="${radians(200)}" />
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
     <joint name="${prefix}joint_2" type="revolute">
@@ -174,7 +173,7 @@
       <parent link="${prefix}link_1"/>
       <child link="${prefix}link_2"/>
       <axis xyz="0 1 0"/>
-      <limit lower="-2.4" upper="2.4" effort="574.0" velocity="2.62" />
+      <limit lower="${radians(-137.5)}" upper="${radians(137.5)}" effort="574.0" velocity="${radians(200)}" />
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
     <joint name="${prefix}joint_3" type="revolute">
@@ -182,7 +181,7 @@
       <parent link="${prefix}link_2"/>
       <child link="${prefix}link_3"/>
       <axis xyz="0 1 0"/>
-      <limit lower="-2.62" upper="2.62" effort="242.0" velocity="3.32" />
+      <limit lower="${radians(-150)}" upper="${radians(150)}" effort="242.0" velocity="${radians(255)}" />
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
     <joint name="${prefix}joint_4" type="revolute">
@@ -190,7 +189,7 @@
       <parent link="${prefix}link_3"/>
       <child link="${prefix}link_4"/>
       <axis xyz="0 0 1"/>
-      <limit lower="-4.71" upper="4.71" effort="58.0" velocity="5.15" />
+      <limit lower="${radians(-270)}" upper="${radians(270)}" effort="58.0" velocity="${radians(315)}" />
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
     <joint name="${prefix}joint_5" type="revolute">
@@ -201,7 +200,7 @@
       <!-- from Staubli instruction manual:
       (1) effort limit = 58 Nm if axis 6 torque = 0 Nm
       (2) effort limit = 29 Nm for maximum torque on axis 6 -->
-      <limit lower="-1.83" upper="2.09" effort="29.0" velocity="4.54" />
+      <limit lower="${radians(-105)}" upper="${radians(120)}" effort="29.0" velocity="${radians(360)}" />
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
     <joint name="${prefix}joint_6" type="revolute">
@@ -209,7 +208,7 @@
       <parent link="${prefix}link_5"/>
       <child link="${prefix}link_6"/>
       <axis xyz="0 0 1"/>
-      <limit lower="-4.71" upper="4.71" effort="29.0" velocity="7.68" />
+      <limit lower="${radians(-270)}" upper="${radians(270)}" effort="29.0" velocity="${radians(870)}" />
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
     <joint name="${prefix}joint_6-tool0" type="fixed">
@@ -217,5 +216,29 @@
       <child link="${prefix}tool0"/>
       <origin xyz="0 0 0" rpy="0 0 0"/>
     </joint>
+
+    <!-- ROS-Industrial 'base' frame: base_link to Staubli World Coordinates transform -->
+    <link name="${prefix}base" />
+    <joint name="${prefix}base_link-base" type="fixed">
+      <origin xyz="0 0 0.550" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}base"/>
+    </joint>
+
+    <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
+    <link name="${prefix}flange" />
+    <joint name="${prefix}joint_6-flange" type="fixed">
+      <origin xyz="0 0 0" rpy="0 ${radians(-90.0)} 0" />
+      <parent link="${prefix}link_6" />
+      <child link="${prefix}flange" />
+    </joint>
+
+    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
+    <link name="${prefix}tool0" />
+    <joint name="${prefix}flange-tool0" type="fixed">
+      <origin xyz="0 0 0" rpy="0 ${radians(90.0)} 0" />
+      <parent link="${prefix}flange" />
+      <child link="${prefix}tool0" />
+    </joint>
   </xacro:macro>
 </robot>
diff --git a/staubli_rx160_support/urdf/rx160l.xacro b/staubli_rx160_support/urdf/rx160l.xacro
index 8d05549..28001ec 100644
--- a/staubli_rx160_support/urdf/rx160l.xacro
+++ b/staubli_rx160_support/urdf/rx160l.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 
-<robot name="staubli_rx160l" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="staubli_rx160l" xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:include filename="$(find staubli_rx160_support)/urdf/rx160l_macro.xacro"/>
   <xacro:staubli_rx160l prefix=""/>
 </robot>
diff --git a/staubli_rx160_support/urdf/rx160l_macro.xacro b/staubli_rx160_support/urdf/rx160l_macro.xacro
index c5855f6..33585ce 100644
--- a/staubli_rx160_support/urdf/rx160l_macro.xacro
+++ b/staubli_rx160_support/urdf/rx160l_macro.xacro
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:include filename="$(find staubli_resources)/urdf/common_materials.xacro"/>
 
   <xacro:macro name="staubli_rx160l" params="prefix">
-    <!-- links -->
+    <!-- links: main serial chain -->
     <link name="${prefix}base_link">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -158,15 +158,14 @@
                                                  izz="0.000021"/>
       </inertial>
     </link>
-    <link name="${prefix}tool0"/>
 
-    <!-- joints -->
+    <!-- joints: main serial chain -->
     <joint name="${prefix}joint_1" type="revolute">
       <origin xyz="0 0 0.55" rpy="0 0 0"/>
       <parent link="${prefix}base_link"/>
       <child link="${prefix}link_1"/>
       <axis xyz="0 0 1"/>
-      <limit lower="-2.967060" upper="2.967060" effort="692.0" velocity="2.88" />
+      <limit lower="${radians(-160)}" upper="${radians(160)}" effort="692.0" velocity="${radians(200)}" />
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
     <joint name="${prefix}joint_2" type="revolute">
@@ -174,7 +173,7 @@
       <parent link="${prefix}link_1"/>
       <child link="${prefix}link_2"/>
       <axis xyz="0 1 0"/>
-      <limit lower="-2.4" upper="2.4" effort="574.0" velocity="2.62" />
+      <limit lower="${radians(-137.5)}" upper="${radians(137.5)}" effort="574.0" velocity="${radians(200)}" />
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
     <joint name="${prefix}joint_3" type="revolute">
@@ -182,7 +181,7 @@
       <parent link="${prefix}link_2"/>
       <child link="${prefix}link_3"/>
       <axis xyz="0 1 0"/>
-      <limit lower="-2.62" upper="2.62" effort="242.0" velocity="3.32" />
+      <limit lower="${radians(-150)}" upper="${radians(150)}" effort="242.0" velocity="${radians(255)}" />
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
     <joint name="${prefix}joint_4" type="revolute">
@@ -190,7 +189,7 @@
       <parent link="${prefix}link_3"/>
       <child link="${prefix}link_4"/>
       <axis xyz="0 0 1"/>
-      <limit lower="-4.71" upper="4.71" effort="58.0" velocity="5.15" />
+      <limit lower="${radians(-270)}" upper="${radians(270)}" effort="58.0" velocity="${radians(315)}" />
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
     <joint name="${prefix}joint_5" type="revolute">
@@ -201,7 +200,7 @@
       <!-- from Staubli instruction manual:
       (1) effort limit = 58 Nm if axis 6 torque = 0 Nm
       (2) effort limit = 29 Nm for maximum torque on axis 6 -->
-      <limit lower="-1.83" upper="2.09" effort="29.0" velocity="4.54" />
+      <limit lower="${radians(-105)}" upper="${radians(120)}" effort="29.0" velocity="${radians(360)}" />
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
     <joint name="${prefix}joint_6" type="revolute">
@@ -209,7 +208,7 @@
       <parent link="${prefix}link_5"/>
       <child link="${prefix}link_6"/>
       <axis xyz="0 0 1"/>
-      <limit lower="-4.71" upper="4.71" effort="29.0" velocity="7.68" />
+      <limit lower="${radians(-270)}" upper="${radians(270)}" effort="29.0" velocity="${radians(870)}" />
       <dynamics damping="0.0" friction="0.0"/>
     </joint>
     <joint name="${prefix}joint_6-tool0" type="fixed">
@@ -217,5 +216,29 @@
       <child link="${prefix}tool0"/>
       <origin xyz="0 0 0" rpy="0 0 0"/>
     </joint>
+
+    <!-- ROS-Industrial 'base' frame: base_link to Staubli World Coordinates transform -->
+    <link name="${prefix}base" />
+    <joint name="${prefix}base_link-base" type="fixed">
+      <origin xyz="0 0 0.550" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}base"/>
+    </joint>
+
+    <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
+    <link name="${prefix}flange" />
+    <joint name="${prefix}joint_6-flange" type="fixed">
+      <origin xyz="0 0 0" rpy="0 ${radians(-90.0)} 0" />
+      <parent link="${prefix}link_6" />
+      <child link="${prefix}flange" />
+    </joint>
+
+    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
+    <link name="${prefix}tool0" />
+    <joint name="${prefix}flange-tool0" type="fixed">
+      <origin xyz="0 0 0" rpy="0 ${radians(90.0)} 0" />
+      <parent link="${prefix}flange" />
+      <child link="${prefix}tool0" />
+    </joint>
   </xacro:macro>
 </robot>