How to change end effector for UR5?


For a UR5, I’d like to know how to change the end effector. I’m taking the ROS Manipulation course right now. I wanted to know how to switch the end effector of a UR5 robot with a smart grasper from Unit 1 to the end effector of a UR3e robot in the last unit, which is a project. I have attached the following pictures for reference. I would greatly appreciate any help! Thank you!



You would need to replace the macro that is called in the UR5 URDF file. I recommend taking the URDF course:Learn Robotics from Zero - Robotics & ROS Online Courses

You can also check how it is done in this repository, where they have yet another gripper on the UR3:

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