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Hi!

rosrun xacro xacro.py should work fine.

Please post the output of the command. Try the command by specifying the absolute path of the urdf.xacro file.

Even rosrun xacro xacro.py file.urdf.xacro > file.urdf should work.

If you want a urdf, you can find it under jaco_description/urdf/gazebo

https://github.com/ksatyaki/JacoROS

Have a great day! Chittaranjan