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Thank you all for your answers! That was how I was trying to add it but it didn't work. I realised that the .URDF file I was trying to add didn't has an <intertial> tag so gazebo was just skipping it, I just added that tag and it works. I was assuming that the .urdf file of the repo was ok so I couldn't see the error.

Now it is skipping the other .xacro files which are included in the .urdf, but I think that it is because of the directory reference.