testing mods
<parent link="${prefix}wrist_3_link" />
<child link = "${prefix}ee_link" />
<origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
+ <!-- <origin xyz="0 0 0" rpy="0 0 0"/> -->
</joint>
<link name="${prefix}ee_link">
<link name="${prefix}tool0"/>
<joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed">
<origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
+ <!-- <origin xyz="0 0 0" rpy="0 0 0"/> -->
<parent link="${prefix}wrist_3_link"/>
<child link="${prefix}tool0"/>
</joint>
