Fanuc M-10iA with single link EEF attached to tool0 with an (almost) identity transform

m10_with_eef.xacro

<?xml version="1.0" ?>
<robot name="fanuc_m10ia" xmlns:xacro="http://wiki.ros.org/xacro">
  <xacro:include filename="$(find fanuc_m10ia_support)/urdf/m10ia_macro.xacro"/>
  <xacro:fanuc_m10ia prefix=""/>

  <link name="eef">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://fanuc_m10ia_support/meshes/m10ia/visual/link_6.stl"/>
      </geometry>
      <xacro:material_fanuc_black />
    </visual>
  </link>

  <joint name="tool0-eef" type="fixed">
    <origin xyz="0.1 0 0" rpy="0 0 0" />
    <parent link="tool0" />
    <child link="eef" />
  </joint>
</robot>