Change gripper orientation in mycobot_280_gripper_moveit

[PengchengAi]

I need to change gripper orientation from 'up' (mycobot_280m5_with_gripper_up.urdf) to 'parallel' (mycobot_280m5_with_gripper_parallel.urdf) in the mycobot_280_gripper_moveit package. Is it enough to change the URDF in the planning context file and keep any other configurations as the same (for example, the firefighter.srdf)?

Thank you!