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I temporarily "solved" the problem by commenting the line <xacro:arg name="urdf_extras" default="$(find husky_ur_description)/urdf/husky_ur5_description.urdf.xacro" /> and <xacro:include filename="$(arg urdf_extras)" /> on husky.urdf.xacro file. The MoveIt! Setup Assistant loaded the files and UR5 is there.

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