message: ADD: `rpy` parameter to `<xacro:link_detailed_coarse>`
  This way you can specify a rotational offset between panda_link* and panda_link*_sc
diff: <!-- * and coarse geometry models for self-collision checking -->
  <!-- -->
  <!-- name: Name of the robot link (without prefix) -->
  + <!-- rpy: Rotation of the *_sc link relative to parent [rad] -->
  <!-- self_collision_geometries: self <collision> models -->
  <!-- ========================================================== -->
  - <xacro:macro name="link_detailed_coarse" params="name prefix=${arm_id}_ **self_collision_geometries">
  + <xacro:macro name="link_detailed_coarse" params="name prefix=${arm_id}_ rpy:='0 0 0' **self_collision_geometries">
  <!-- sub-link defining detailed meshes for collision with environment -->
  <link name="${prefix}${name}">
  <visual>
  </link>
  <!-- fixed joint between both sub-links -->
  <joint name="${prefix}${name}_sc_joint" type="fixed">
  + <origin rpy="${rpy}" />
  <parent link="${prefix}${name}" />
  <child link="${prefix}${name}_sc" />
  </joint>
  