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src/custom-ur-descriptions/lix_moveit_config/srdf/ur.srdf.xacro

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<?xml version="1.0" ?>
<!-- SRDF for LiX UR5e + Hand-E (single gripper, no tool exchange) -->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ur5e">

    <!-- Common: ur_arm group, moveit_home, virtual_joint, arm self-collisions -->
    <xacro:include filename="$(find lix_moveit_config)/srdf/common.srdf.xacro"/>

    <!-- Hand-E gripper: group, states, end_effector, collision pairs -->
    <xacro:include filename="$(find lix_moveit_config)/srdf/hande.srdf.xacro"/>
</robot>