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just create a new xacro file where you include the two urdfs, something like:

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

  <xacro:include filename="$(find ur_description)/urdf/ur10_robot.urdf.xacro" />

  <xacro:include filename="$(find robotiq_85_description)/urdf/robotiq_85_gripper.xacro" />

  </robot>

make sure to connect the first frame of the gripper with the last frame of the UR (should be tool0). Once you load the new urdf with the setup assistant you can see graphically if you have succeeded.