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Maybe try the ur5_robot.urdf.xacro file instead because I think that ur5.urdf.xacro just defines the macro, and the ur5_robot.urdf.xacro uses the macro here: https://github.com/ros-industrial/universal_robot/blob/1c07a163c5b649fb94b5c814945a01e3c506b647/ur_description/urdf/ur5_robot.urdf.xacro#L12

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