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```

<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="my_work_cell">
   <!--Load the macro for creating a UR10e-->
  <xacro:include filename="$(find ur_description)/urdf/inc/ur10e_macro.xacro"/>
 
 ur_description)/urdf/inc/ur10e_macro.xacro"/>

  <!--Instanciate the UR10e-->
  <xacro:ur10e_robot prefix=""/>
 
 prefix="" />

  <!--Let's create a sort of table where the robot stands on-->
  <link name="box">
    <visual>
      <origin xyz="0 0 0.5" rpy="0 0 0"/>
      <geometry>
        <box size="1 1 1"/>
      </geometry>
    </visual>
  </link>
 
 </link>

  <!--The robot will be on the top surface of the box in the center-->
  <joint name="table_to_robot" type="fixed">
    <parent link="box"/>
link="box" />
    <child link="base_link"/>
link = "base_link" />
    <origin xyz="0 0 1" rpy="0 0 0"/>
0" />
  </joint>
</robot>
```

Basically, you create your URDF with everything "around" the robot and then include the macro for creating the robot and add the statement for actually creating the robot to your URDF. To add an item with a custom stl, please refer to the urdf/link docuementation.