ur10.gazebo.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:macro name="ur10_arm_gazebo" params="prefix">
    
    <gazebo reference="${prefix}shoulder_link">
      <selfCollide>true</selfCollide>
    </gazebo>
    <gazebo reference="${prefix}upper_arm_link">
      <selfCollide>true</selfCollide>
    </gazebo>
    <gazebo reference="${prefix}forearm_link">
      <selfCollide>true</selfCollide>
    </gazebo>
    <gazebo reference="${prefix}wrist_1_link">
      <selfCollide>true</selfCollide>
    </gazebo>
    <gazebo reference="${prefix}wrist_3_link">
      <selfCollide>true</selfCollide>
    </gazebo>
    <gazebo reference="${prefix}wrist_2_link">
      <selfCollide>true</selfCollide>
    </gazebo>
    <gazebo reference="${prefix}ee_link">
      <selfCollide>true</selfCollide>
    </gazebo>
    
  </xacro:macro>

</robot>