diff --git "a/ur5e/gripper/visual/robotiq_arg2f_85_inner_finger.dae" "b/ur5e/gripper/visual/robotiq_arg2f_85_inner_finger.dae"
new file mode 100644--- /dev/null
+++ "b/ur5e/gripper/visual/robotiq_arg2f_85_inner_finger.dae"
@@ -0,0 +1,98 @@
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+          <technique_common>
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+              <param type="float" name="X"/>
+              <param type="float" name="Y"/>
+              <param type="float" name="Z"/>
+            </accessor>
+          </technique_common>
+        </source>
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+          <input source="#cubeverts-array0" semantic="POSITION"/>
+        </vertices>
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+          <input source="#cubeverts-array0-vertices" semantic="VERTEX" offset="0"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_materials>
+    <material name="mymaterial" id="material0">
+      <instance_effect url="#effect0"/>
+    </material>
+  </library_materials>
+  <library_visual_scenes>
+    <visual_scene id="myscene">
+      <node name="node0" id="node0">
+        <instance_geometry url="#geometry0">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="materialref" target="#material0"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#myscene"/>
+  </scene>
+</COLLADA>