Undefined parameters [kinematics_file]

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Hello,

I am runing Ubuntu 16 with ROS kinetic. I am using the UR-Driver found here (https://github.com/UniversalRobots/Un...) and followed this calibration procedure (https://github.com/UniversalRobots/Un...). When I run the URDF from this tutorial (https://industrial-training-master.re...) but with the previously mentioned driver installed I get the error:

Undefined parameters [kinematics_file] None None
when instantiating macro: ur10_robot (/home/dan/catkin_ws/src/fmauch_universal_robot/ur_description/urdf/ur10.urdf.xacro)

in file: /home/dan/catkin_ws/src/grindcell_support/urdf/workcell.xacro
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xacro --inorder '/home/dan/catkin_ws/src/grindcell_support/urdf/workcell.xacro'] returned with code [2]. 

Param xml is <param command="$(find xacro)/xacro --inorder '$(find grindcell_support)/urdf/workcell.xacro'" name="robot_description"/>
The traceback for the exception was written to the log file

I believe the problem is very similar to the found in here (https://answers.ros.org/question/3442...), but I did not understand how it was solved.

I think the problem is in line 32 of ur10.urdf.xacro. The parameter kinematics_file is mentioned but not set. I tried setting it by writing "kinematics_file=home/my_robot_calibration.yaml', but this created a new error:

string indices must be integers 
when evaluating expression 'kinematics_file['kinematics']' 
when evaluating expression '__kinematics['shoulder']['roll']'
when instantiating macro: ur10_robot (/home/dan/catkin_ws/src/fmauch_universal_robot/ur_description/urdf/ur10.urdf.xacro)
in file: /home/dan/catkin_ws/src/grindcell_support/urdf/workcell.xacro
Invalid <param> tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/lib/xacro/xacro --inorder '/home/dan/catkin_ws/src/grindcell_support/urdf/workcell.xacro'] returned with code [2]. 


Param xml is <param command="$(find xacro)/xacro --inorder '$(find grindcell_support)/urdf/workcell.xacro'" name="robot_description"/>
The traceback for the exception was written to the log file

How do I set the kinematics_file correctly in ur10.urdf.xacro?

Thank you!!!

Daniel