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<robot xmlns:xacro="http://wiki.ros.org/xacro"
<xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />
<xacro:include filename="$(find ur_description)/urdf/ur10.urdf.xacro" />
<joint name="world_joint" type="fixed">
<parent link="world" />
<child link = "base_link" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>