<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
       name="ur5" >

  <!-- common stuff -->
  <xacro:include filename="$(find ur_description)/urdf/gazebo.urdf.xacro" />

  <!-- ur5 -->
  <xacro:include filename="$(find ur_description)/urdf/ur5_joint_limited.urdf.xacro" />

  <!-- arm -->
  <xacro:ur5_robot prefix="">
  </xacro:ur5_robot>

</robot>