diff --git a/ur_description/urdf/ur.urdf.xacro b/ur_description/urdf/ur.urdf.xacro
index 18868e77c..194d9a5cf 100644
--- a/ur_description/urdf/ur.urdf.xacro
+++ b/ur_description/urdf/ur.urdf.xacro
@@ -23,6 +23,11 @@
    <xacro:arg name="initial_positions_file" default="$(find ur_description)/config/initial_positions.yaml"/>
    <xacro:property name="initial_positions_file" default="$(arg initial_positions_file)"/>
 
+   <xacro:arg name="robot_ip" default="0.0.0.0" />
+   <xacro:arg name="script_filename" default="$(find ur_robot_driver)/resources/ros_control.urscript"/>
+   <xacro:arg name="output_recipe_filename" default="$(find ur_robot_driver)/resources/rtde_input_recipe.txt"/>
+   <xacro:arg name="input_recipe_filename" default="$(find ur_robot_driver)/resources/rtde_input_recipe.txt"/>
+
    <!-- arm -->
    <xacro:ur_robot
      prefix="$(arg prefix)"
@@ -36,5 +41,9 @@
      safety_k_position="$(arg safety_k_position)"
      use_fake_hardware="$(arg use_fake_hardware)"
      fake_sensor_commands="$(arg fake_sensor_commands)"
-     initial_positions="${load_yaml(initial_positions_file)}" />
+     initial_positions="${load_yaml(initial_positions_file)}"
+     robot_ip="$(arg robot_ip)"
+     script_filename="$(arg script_filename)"
+     output_recipe_filename="$(arg output_recipe_filename)"
+     input_recipe_filename="$(arg input_recipe_filename)" />
 </robot>
diff --git a/ur_description/urdf/ur_macro.xacro b/ur_description/urdf/ur_macro.xacro
index dff4cd5b8..6b94f4e46 100644
--- a/ur_description/urdf/ur_macro.xacro
+++ b/ur_description/urdf/ur_macro.xacro
@@ -65,6 +65,10 @@
     safety_k_position:=20
     use_fake_hardware:=false
     fake_sensor_commands:=false
+    robot_ip:=0.0.0.0
+    script_filename:=to_be_filled_by_ur_robot_driver
+    output_recipe_filename:=to_be_filled_by_ur_robot_driver
+    input_recipe_filename:=to_be_filled_by_ur_robot_driver
     initial_positions:=${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)}">
     <!-- Load configuration data from the provided .yaml files -->
     <xacro:read_model_data
@@ -73,27 +77,20 @@
       physical_parameters_file="${physical_parameters_file}"
       visual_parameters_file="${visual_parameters_file}"/>
 
-    <!-- Data files required by the UR driver -->
-    <xacro:arg name="script_filename" default="$(find ur_robot_driver)/resources/ros_control.urscript"/>
-    <xacro:arg name="output_recipe_filename" default="$(find ur_robot_driver)/resources/rtde_output_recipe.txt"/>
-    <xacro:arg name="input_recipe_filename" default="$(find ur_robot_driver)/resources/rtde_input_recipe.txt"/>
-    <xacro:arg name="robot_ip" default="10.0.1.186"/>
-
-
     <!-- ros2 control include -->
     <xacro:include filename="$(find ur_description)/urdf/ur.ros2_control.xacro" />
     <!-- ros2 control instance -->
     <xacro:ur_ros2_control
       name="URPositionHardwareInterface" prefix="${prefix}"
-      use_fake_hardware="$(arg use_fake_hardware)"
+      use_fake_hardware="${use_fake_hardware}"
       initial_positions="${initial_positions}"
-      fake_sensor_commands="$(arg fake_sensor_commands)"
-      script_filename="$(arg script_filename)"
-      output_recipe_filename="$(arg output_recipe_filename)"
-      input_recipe_filename="$(arg input_recipe_filename)"
+      fake_sensor_commands="${fake_sensor_commands}"
+      script_filename="${script_filename}"
+      output_recipe_filename="${output_recipe_filename}"
+      input_recipe_filename="${input_recipe_filename}"
       tf_prefix=""
       hash_kinematics="${kinematics_hash}"
-      robot_ip="$(arg robot_ip)" />
+      robot_ip="${robot_ip}" />
 
     <!-- Add URDF transmission elements (for ros_control) -->
     <!--<xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" />-->