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@andymcevoy your answer helped me a lot.

Although the base packages of the robots can be remained untouched, I still find it very inconvenient that you need to create a new moveit package for every single tool configuration of your endeffector.

I am wondering If there is a more elegant way to be able to switch between urdf files inside of a moveit package.

Any Ideas how I can realize using different tool configurations in a xacro files like you proposed and still be able to use a single moveit package?

Thanks for the answer.