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It's a long while since I got it working in my repo, but it could be due to the SRDF not in sync with the URDF. This can be corrected by running again the moveit setup assistant.

But I'm using the UR5 right now with a development of my repo (I attached an end effector you aren't interested in for sure), so the base code for it should work:

https://github.com/marcoesposito1988/universal_robot

Please let me know if you encounter more problems.

Cheers, Marco

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