Merging UR5e and Realsense URDFs after hand-in-eye calibration

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Hello everyone, I performed hand-in-eye calibration between UR5e manipulator and IntelRealsense D435 camera using Moveit's calibration plugin. However, I am missing the concept behind how to actually use the result of the calibration (tf relationship between base_link and the camera coordinate system) in order to create a new robot description with my robot's and camera's URDF files. Is it possible to merge those two models by using the hand-in-eye calibration result and then visualize the camera as a part of the robot_description? I thought this would also help to understand and visually get feedback from the accuracy of the calibration, just by looking at the position of the camera in the model. Thanks in advance!