diff --git a/ur5_moveit_config/.setup_assistant b/ur5_moveit_config/.setup_assistant
index 0a983ecc22b7103e872b28242ebe99b26176e18c..fccc0b629fc14031003dae6f421792c5a5faf7bb 100644
--- a/ur5_moveit_config/.setup_assistant
+++ b/ur5_moveit_config/.setup_assistant
@@ -5,4 +5,4 @@ moveit_setup_assistant_config:
   SRDF:
     relative_path: config/ur5.srdf
   CONFIG:
-    generated_timestamp: 1409142284
\ No newline at end of file
+    generated_timestamp: 1413877529
\ No newline at end of file
diff --git a/ur5_moveit_config/config/fake_controllers.yaml b/ur5_moveit_config/config/fake_controllers.yaml
index a7300cf485a5f356bb99212771262be2e80911a0..5e24f945159e712dd79a50a75d5986c317669474 100644
--- a/ur5_moveit_config/config/fake_controllers.yaml
+++ b/ur5_moveit_config/config/fake_controllers.yaml
@@ -6,4 +6,7 @@ controller_list:
       - elbow_joint
       - wrist_1_joint
       - wrist_2_joint
-      - wrist_3_joint
\ No newline at end of file
+      - wrist_3_joint
+  - name: fake_endeffector_controller
+    joints:
+      []
\ No newline at end of file
diff --git a/ur5_moveit_config/config/ompl_planning.yaml b/ur5_moveit_config/config/ompl_planning.yaml
index d866c6a8b084ffbf5c702f81987cb345eb5845eb..6d2133f845494e5bdfd36bca616ebeab01db14a9 100644
--- a/ur5_moveit_config/config/ompl_planning.yaml
+++ b/ur5_moveit_config/config/ompl_planning.yaml
@@ -35,4 +35,17 @@ manipulator:
     - PRMkConfigDefault
     - PRMstarkConfigDefault
   projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
-  longest_valid_segment_fraction: 0.05
\ No newline at end of file
+  longest_valid_segment_fraction: 0.05
+endeffector:
+  planner_configs:
+    - SBLkConfigDefault
+    - ESTkConfigDefault
+    - LBKPIECEkConfigDefault
+    - BKPIECEkConfigDefault
+    - KPIECEkConfigDefault
+    - RRTkConfigDefault
+    - RRTConnectkConfigDefault
+    - RRTstarkConfigDefault
+    - TRRTkConfigDefault
+    - PRMkConfigDefault
+    - PRMstarkConfigDefault
\ No newline at end of file
diff --git a/ur5_moveit_config/config/ur5.srdf b/ur5_moveit_config/config/ur5.srdf
index d5aba4a472ce04b5a5e01295c71991f4391ae279..9b13cebea4ce7ee9bc8a6dc43372cc326e214557 100644
--- a/ur5_moveit_config/config/ur5.srdf
+++ b/ur5_moveit_config/config/ur5.srdf
@@ -10,10 +10,10 @@
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
     <group name="manipulator">
-        <chain base_link="base_link" tip_link="ee_link"/>
+        <chain base_link="base_link" tip_link="ee_link" />
     </group>
     <group name="endeffector">
-        <link name="ee_link"/>
+        <link name="ee_link" />
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
     <group_state name="home" group="manipulator">
@@ -37,18 +37,14 @@
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
     <virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-    <disable_collisions link1="base_link" link2="forearm_link" reason="Never" />
     <disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent" />
-    <disable_collisions link1="base_link" link2="upper_arm_link" reason="Never" />
-    <disable_collisions link1="forearm_link" link2="shoulder_link" reason="Never" />
+    <disable_collisions link1="ee_link" link2="wrist_1_link" reason="Never" />
+    <disable_collisions link1="ee_link" link2="wrist_2_link" reason="Never" />
+    <disable_collisions link1="ee_link" link2="wrist_3_link" reason="Adjacent" />
     <disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent" />
     <disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent" />
-    <disable_collisions link1="forearm_link" link2="wrist_2_link" reason="Never" />
-    <disable_collisions link1="forearm_link" link2="wrist_3_link" reason="Never" />
     <disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />
-    <disable_collisions link1="upper_arm_link" link2="wrist_1_link" reason="Never" />
     <disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent" />
     <disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never" />
     <disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent" />
-    <disable_collisions link1="ee_link" link2="wrist_3_link" reason="Adjacent" />
 </robot>