diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro
index f1050ab..3860034 100644
--- a/urdf/ur.ros2_control.xacro
+++ b/urdf/ur.ros2_control.xacro
@@ -8,6 +8,7 @@
sim_gazebo:=false
sim_ignition:=false
headless_mode:=false
+ simulated_robot:=false
initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
use_tool_communication:=false
script_filename output_recipe_filename
@@ -40,6 +41,7 @@
${output_recipe_filename}
${input_recipe_filename}
${headless_mode}
+ ${simulated_robot}
${reverse_port}
${script_sender_port}
${reverse_ip}
diff --git a/urdf/ur.urdf.xacro b/urdf/ur.urdf.xacro
index e2f8b2e..8f43a81 100644
--- a/urdf/ur.urdf.xacro
+++ b/urdf/ur.urdf.xacro
@@ -21,6 +21,7 @@
+
@@ -72,6 +73,7 @@
sim_gazebo="$(arg sim_gazebo)"
sim_ignition="$(arg sim_ignition)"
headless_mode="$(arg headless_mode)"
+ simulated_robot="$(arg simulated_robot)"
initial_positions="${xacro.load_yaml(initial_positions_file)}"
use_tool_communication="$(arg use_tool_communication)"
tool_voltage="$(arg tool_voltage)"
diff --git a/urdf/ur_macro.xacro b/urdf/ur_macro.xacro
index 7e43bcd..fe8b51a 100644
--- a/urdf/ur_macro.xacro
+++ b/urdf/ur_macro.xacro
@@ -71,6 +71,7 @@
sim_gazebo:=false
sim_ignition:=false
headless_mode:=false
+ simulated_robot:=false
initial_positions:=${dict(shoulder_pan_joint=0.0,shoulder_lift_joint=-1.57,elbow_joint=0.0,wrist_1_joint=-1.57,wrist_2_joint=0.0,wrist_3_joint=0.0)}
use_tool_communication:=false
tool_voltage:=0
@@ -108,6 +109,7 @@
initial_positions="${initial_positions}"
fake_sensor_commands="${fake_sensor_commands}"
headless_mode="${headless_mode}"
+ simulated_robot="${simulated_robot}"
sim_gazebo="${sim_gazebo}"
sim_ignition="${sim_ignition}"
script_filename="${script_filename}"