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The answer above is wrong. Add this tag and all will be fine

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

The answer above is wrong. Add this tag and all will be fine

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

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