diff --git a/ur_description/urdf/ur.xacro b/ur_description/urdf/ur.xacro
index cbcffab2a..7e1545bf9 100644
--- a/ur_description/urdf/ur.xacro
+++ b/ur_description/urdf/ur.xacro
@@ -18,10 +18,11 @@
    <xacro:arg name="safety_limits" default="false"/>
    <xacro:arg name="safety_pos_margin" default="0.15"/>
    <xacro:arg name="safety_k_position" default="20"/>
+   <xacro:arg name="prefix" default=""/>
 
    <!-- arm -->
    <xacro:ur_robot
-     prefix=""
+     prefix="$(arg prefix)"
      joint_limits_parameters_file="$(arg joint_limit_params)"
      kinematics_parameters_file="$(arg kinematics_params)"
      physical_parameters_file="$(arg physical_params)"