diff --git a/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py b/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py
index 9c3636fb34..41e154c25a 100644
--- a/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py
+++ b/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py
@@ -162,6 +162,7 @@ def __init__(
 
         self.__urdf_package = None
         self.__urdf_file_path = None
+        self.__urdf_xacro_args = None
         self.__srdf_file_path = None
 
         modified_urdf_path = Path("config") / (self.__robot_name + ".urdf.xacro")
@@ -179,6 +180,11 @@ def __init__(
                 )
                 self.__urdf_file_path = Path(urdf_config["relative_path"])
 
+                if (xacro_args := urdf_config.get("xacro_args")) is not None:
+                    self.__urdf_xacro_args = dict(
+                        arg.split(":=") for arg in xacro_args.split(" ") if arg
+                    )
+
             srdf_config = config.get("srdf", config.get("SRDF"))
             if srdf_config:
                 self.__srdf_file_path = Path(srdf_config["relative_path"])
@@ -224,7 +230,8 @@ def robot_description(
             try:
                 self.__moveit_configs.robot_description = {
                     self.__robot_description: load_xacro(
-                        robot_description_file_path, mappings=mappings
+                        robot_description_file_path,
+                        mappings=mappings or self.__urdf_xacro_args,
                     )
                 }
             except ParameterBuilderFileNotFoundError as e: