diff --git "a/ur5e/gripper/visual/robotiq_arg2f_85_inner_knuckle.dae" "b/ur5e/gripper/visual/robotiq_arg2f_85_inner_knuckle.dae"
new file mode 100644--- /dev/null
+++ "b/ur5e/gripper/visual/robotiq_arg2f_85_inner_knuckle.dae"
@@ -0,0 +1,98 @@
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752 1100 218 1100 754 1100 754 1101 218 1101 757 1101 218 1102 220 1102 757 1102 757 1103 220 1103 759 1103 759 1104 220 1104 761 1104 220 1105 222 1105 761 1105 101 1106 99 1106 686 1106 99 1107 96 1107 686 1107 96 1108 95 1108 686 1108 515 1109 194 1109 686 1109 194 1110 192 1110 686 1110 192 1111 191 1111 686 1111 191 1112 189 1112 686 1112 189 1113 187 1113 686 1113 515 1114 157 1114 203 1114 187 1115 101 1115 686 1115 515 1116 203 1116 201 1116 515 1117 201 1117 199 1117 511 1118 518 1118 519 1118 508 1119 511 1119 519 1119 509 1120 508 1120 519 1120 515 1121 199 1121 196 1121 515 1122 196 1122 194 1122 556 1123 509 1123 549 1123 553 1124 556 1124 549 1124 552 1125 553 1125 549 1125 523 1126 528 1126 530 1126 519 1127 523 1127 530 1127 547 1128 549 1128 545 1128 175 1129 530 1129 820 1129 165 1130 175 1130 820 1130 543 1131 545 1131 541 1131 173 1132 169 1132 820 1132 169 1133 164 1133 820 1133 164 1134 165 1134 820 1134 173 1135 820 1135 63 1135 177 1136 173 1136 63 1136 63 1137 820 1137 67 1137 533 1138 535 1138 531 1138 531 1139 535 1139 526 1139 179 1140 177 1140 57 1140 177 1141 63 1141 57 1141 67 1142 820 1142 71 1142 181 1143 179 1143 54 1143 179 1144 57 1144 54 1144 526 1145 535 1145 515 1145 539 1146 541 1146 515 1146 537 1147 539 1147 515 1147 535 1148 537 1148 515 1148 521 1149 526 1149 515 1149 71 1150 820 1150 74 1150 514 1151 521 1151 515 1151 509 1152 519 1152 515 1152 549 1153 509 1153 515 1153 545 1154 549 1154 515 1154 519 1155 530 1155 515 1155 541 1156 545 1156 515 1156 183 1157 181 1157 55 1157 181 1158 54 1158 55 1158 530 1159 167 1159 161 1159 185 1160 183 1160 103 1160 167 1161 530 1161 171 1161 183 1162 55 1162 103 1162 530 1163 161 1163 159 1163 187 1164 185 1164 101 1164 185 1165 103 1165 101 1165 171 1166 530 1166 175 1166 530 1167 159 1167 156 1167 515 1168 530 1168 156 1168 515 1169 156 1169 157 1169 824 1170 796 1170 710 1170 796 1171 667 1171 710 1171 45 1172 46 1172 672 1172 46 1173 48 1173 672 1173 48 1174 50 1174 672 1174 146 1175 640 1175 144 1175 130 1176 132 1176 672 1176 132 1177 134 1177 672 1177 134 1178 136 1178 672 1178 136 1179 139 1179 672 1179 50 1180 130 1180 672 1180 139 1181 640 1181 672 1181 144 1182 640 1182 143 1182 637 1183 661 1183 660 1183 143 1184 640 1184 141 1184 639 1185 638 1185 644 1185 642 1186 639 1186 644 1186 638 1187 637 1187 659 1187 637 1188 660 1188 659 1188 141 1189 640 1189 139 1189 646 1190 644 1190 648 1190 644 1191 638 1191 648 1191 658 1192 657 1192 656 1192 659 1193 658 1193 656 1193 638 1194 659 1194 656 1194 648 1195 638 1195 656 1195 649 1196 113 1196 811 1196 111 1197 110 1197 811 1197 656 1198 655 1198 654 1198 110 1199 115 1199 811 1199 115 1200 118 1200 811 1200 113 1201 111 1201 811 1201 118 1202 120 1202 13 1202 811 1203 118 1203 13 1203 653 1204 652 1204 651 1204 811 1205 13 1205 17 1205 120 1206 122 1206 9 1206 650 1207 647 1207 645 1207 651 1208 650 1208 645 1208 654 1209 653 1209 645 1209 13 1210 120 1210 9 1210 653 1211 651 1211 645 1211 648 1212 656 1212 645 1212 656 1213 654 1213 645 1213 811 1214 17 1214 21 1214 122 1215 124 1215 4 1215 648 1216 645 1216 640 1216 643 1217 641 1217 640 1217 9 1218 122 1218 4 1218 645 1219 643 1219 640 1219 649 1220 648 1220 640 1220 811 1221 21 1221 25 1221 124 1222 126 1222 0 1222 108 1223 649 1223 104 1223 649 1224 108 1224 107 1224 4 1225 124 1225 0 1225 126 1226 128 1226 1 1226 104 1227 649 1227 152 1227 649 1228 107 1228 113 1228 0 1229 126 1229 1 1229 128 1230 130 1230 50 1230 649 1231 640 1231 150 1231 152 1232 649 1232 150 1232 1 1233 128 1233 50 1233 150 1234 640 1234 148 1234 148 1235 640 1235 146 1235 593 1236 454 1236 595 1236 454 1237 455 1237 597 1237 565 1238 815 1238 457 1238 595 1239 454 1239 597 1239 456 1240 565 1240 457 1240 459 1241 458 1241 584 1241 458 1242 478 1242 584 1242 565 1243 456 1243 460 1243 478 1244 476 1244 584 1244 476 1245 474 1245 584 1245 474 1246 684 1246 584 1246 457 1247 815 1247 461 1247 597 1248 455 1248 599 1248 459 1249 584 1249 580 1249 565 1250 460 1250 463 1250 464 1251 459 1251 580 1251 599 1252 455 1252 601 1252 815 1253 684 1253 465 1253 455 1254 462 1254 601 1254 461 1255 815 1255 465 1255 566 1256 565 1256 468 1256 464 1257 580 1257 576 1257 601 1258 462 1258 603 1258 565 1259 463 1259 468 1259 467 1260 464 1260 572 1260 464 1261 576 1261 572 1261 465 1262 684 1262 470 1262 570 1263 566 1263 471 1263 574 1264 570 1264 471 1264 462 1265 466 1265 605 1265 566 1266 468 1266 471 1266 603 1267 462 1267 605 1267 467 1268 572 1268 568 1268 470 1269 684 1269 472 1269 605 1270 466 1270 607 1270 578 1271 574 1271 473 1271 582 1272 578 1272 473 1272 467 1273 568 1273 563 1273 574 1274 471 1274 473 1274 469 1275 467 1275 563 1275 466 1276 469 1276 559 1276 607 1277 466 1277 559 1277 472 1278 684 1278 474 1278 469 1279 563 1279 560 1279 559 1280 469 1280 560 1280 586 1281 582 1281 475 1281 582 1282 473 1282 475 1282 475 1283 477 1283 589 1283 586 1284 475 1284 589 1284 589 1285 477 1285 591 1285 591 1286 477 1286 593 1286 477 1287 454 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1326 685 1326 142 1327 140 1327 685 1327 145 1328 142 1328 685 1328 147 1329 145 1329 685 1329 149 1330 147 1330 685 1330 151 1331 149 1331 685 1331 803 1332 153 1332 685 1332 153 1333 151 1333 685 1333 44 1334 670 1334 685 1334 18 1335 14 1335 121 1335 14 1336 10 1336 123 1336 121 1337 14 1337 123 1337 22 1338 18 1338 119 1338 18 1339 121 1339 119 1339 123 1340 10 1340 125 1340 10 1341 5 1341 125 1341 125 1342 5 1342 127 1342 5 1343 2 1343 127 1343 772 1344 774 1344 497 1344 770 1345 772 1345 497 1345 493 1346 770 1346 497 1346 733 1347 496 1347 498 1347 774 1348 729 1348 499 1348 497 1349 774 1349 499 1349 499 1350 729 1350 728 1350 733 1351 498 1351 500 1351 499 1352 728 1352 501 1352 501 1353 728 1353 732 1353 501 1354 732 1354 737 1354 503 1355 501 1355 737 1355 503 1356 737 1356 741 1356 753 1357 755 1357 480 1357 751 1358 753 1358 480 1358 479 1359 503 1359 745 1359 503 1360 741 1360 745 1360 756 1361 758 1361 481 1361 755 1362 756 1362 481 1362 480 1363 755 1363 481 1363 479 1364 745 1364 749 1364 747 1365 751 1365 485 1365 742 1366 747 1366 485 1366 495 1367 494 1367 673 1367 494 1368 489 1368 673 1368 489 1369 484 1369 673 1369 484 1370 479 1370 673 1370 751 1371 480 1371 485 1371 479 1372 749 1372 673 1372 733 1373 500 1373 805 1373 500 1374 502 1374 805 1374 502 1375 482 1375 805 1375 482 1376 483 1376 805 1376 760 1377 762 1377 486 1377 495 1378 673 1378 675 1378 758 1379 760 1379 486 1379 483 1380 487 1380 675 1380 487 1381 491 1381 675 1381 491 1382 495 1382 675 1382 481 1383 758 1383 486 1383 805 1384 483 1384 675 1384 738 1385 742 1385 488 1385 733 1386 738 1386 488 1386 742 1387 485 1387 488 1387 764 1388 766 1388 490 1388 762 1389 764 1389 490 1389 486 1390 762 1390 490 1390 733 1391 488 1391 492 1391 768 1392 770 1392 493 1392 766 1393 768 1393 493 1393 490 1394 766 1394 493 1394 733 1395 492 1395 496 1395 688 1396 687 1396 788 1396 688 1397 788 1397 794 1397 689 1398 688 1398 799 1398 685 1399 689 1399 799 1399 688 1400 794 1400 799 1400 685 1401 799 1401 803 1401 505 1402 504 1402 777 1402 700 1403 505 1403 777 1403 701 1404 700 1404 776 1404 700 1405 777 1405 776 1405 703 1406 701 1406 836 1406 701 1407 776 1407 836 1407 702 1408 722 1408 833 1408 697 1409 702 1409 790 1409 702 1410 833 1410 790 1410 696 1411 697 1411 789 1411 697 1412 790 1412 789 1412 675 1413 696 1413 800 1413 696 1414 789 1414 800 1414 675 1415 800 1415 805 1415 684 1416 815 1416 798 1416 691 1417 684 1417 798 1417 695 1418 691 1418 787 1418 691 1419 798 1419 787 1419 706 1420 695 1420 782 1420 695 1421 787 1421 782 1421 724 1422 706 1422 792 1422 706 1423 782 1423 792 1423 833 1424 722 1424 721 1424 831 1425 833 1425 721 1425 830 1426 721 1426 720 1426 830 1427 831 1427 721 1427 828 1428 720 1428 718 1428 828 1429 830 1429 720 1429 822 1430 718 1430 717 1430 822 1431 828 1431 718 1431 823 1432 717 1432 716 1432 823 1433 822 1433 717 1433 826 1434 716 1434 715 1434 826 1435 823 1435 716 1435 827 1436 715 1436 713 1436 827 1437 826 1437 715 1437 813 1438 713 1438 670 1438 813 1439 827 1439 713 1439 506 1440 507 1440 679 1440 779 1441 679 1441 677 1441 779 1442 506 1442 679 1442 780 1443 677 1443 664 1443 780 1444 779 1444 677 1444 795 1445 664 1445 663 1445 795 1446 780 1446 664 1446 807 1447 663 1447 727 1447 807 1448 795 1448 663 1448 810 1449 727 1449 726 1449 810 1450 807 1450 727 1450 808 1451 726 1451 725 1451 808 1452 810 1452 726 1452 804 1453 725 1453 724 1453 804 1454 808 1454 725 1454 792 1455 804 1455 724 1455 788 1456 687 1456 708 1456 785 1457 708 1457 707 1457 785 1458 788 1458 708 1458 784 1459 707 1459 636 1459 784 1460 785 1460 707 1460 635 1461 784 1461 636 1461 609 1462 608 1462 705 1462 834 1463 705 1463 704 1463 834 1464 609 1464 705 1464 835 1465 704 1465 703 1465 835 1466 834 1466 704 1466 836 1467 835 1467 703 1467 686 1468 95 1468 93 1468 686 1469 93 1469 90 1469 682 1470 686 1470 88 1470 686 1471 90 1471 88 1471 682 1472 88 1472 87 1472 61 1473 74 1473 820 1473 60 1474 61 1474 820 1474 65 1475 60 1475 820 1475 682 1476 87 1476 85 1476 682 1477 85 1477 83 1477 682 1478 83 1478 82 1478 82 1479 80 1479 680 1479 682 1480 82 1480 680 1480 69 1481 65 1481 839 1481 73 1482 69 1482 839 1482 76 1483 73 1483 839 1483 78 1484 76 1484 839 1484 65 1485 820 1485 839 1485 681 1486 680 1486 838 1486 80 1487 78 1487 838 1487 680 1488 80 1488 838 1488 78 1489 839 1489 838 1489 662 1490 681 1490 837 1490 681 1491 838 1491 837 1491 712 1492 662 1492 778 1492 662 1493 837 1493 778 1493 710 1494 712 1494 781 1494 712 1495 778 1495 781 1495 710 1496 781 1496 824 1496 669 1497 667 1497 796 1497 714 1498 669 1498 793 1498 669 1499 796 1499 793 1499 719 1500 714 1500 821 1500 714 1501 793 1501 821 1501 723 1502 719 1502 819 1502 719 1503 821 1503 819 1503 723 1504 819 1504 817 1504 671 1505 723 1505 30 1505 671 1506 30 1506 32 1506 723 1507 817 1507 27 1507 30 1508 723 1508 27 1508 671 1509 32 1509 34 1509 671 1510 34 1510 36 1510 671 1511 36 1511 39 1511 672 1512 671 1512 41 1512 671 1513 39 1513 41 1513 672 1514 41 1514 43 1514 28 1515 27 1515 812 1515 23 1516 28 1516 812 1516 19 1517 23 1517 812 1517 15 1518 19 1518 812 1518 11 1519 15 1519 812 1519 27 1520 817 1520 812 1520 672 1521 43 1521 45 1521 6 1522 11 1522 811 1522 7 1523 6 1523 811 1523 25 1524 7 1524 811 1524 11 1525 812 1525 811 1525 709 1526 678 1526 825 1526 711 1527 709 1527 829 1527 709 1528 825 1528 829 1528 694 1529 711 1529 832 1529 711 1530 829 1530 832 1530 690 1531 694 1531 783 1531 694 1532 832 1532 783 1532 683 1533 690 1533 786 1533 690 1534 783 1534 786 1534 683 1535 786 1535 802 1535 676 1536 683 1536 818 1536 683 1537 802 1537 818 1537 692 1538 816 1538 806 1538 693 1539 692 1539 806 1539 698 1540 693 1540 801 1540 693 1541 806 1541 801 1541 699 1542 698 1542 791 1542 698 1543 801 1543 791 1543 665 1544 699 1544 797 1544 699 1545 791 1545 797 1545 666 1546 665 1546 809 1546 665 1547 797 1547 809 1547 668 1548 666 1548 814 1548 666 1549 809 1549 814 1549 451 1550 447 1550 448 1550 442 1551 444 1551 447 1551 404 1552 451 1552 452 1552 404 1553 452 1553 407 1553 438 1554 440 1554 442 1554 414 1555 404 1555 408 1555 414 1556 447 1556 451 1556 414 1557 451 1557 404 1557 421 1558 435 1558 436 1558 421 1559 436 1559 438 1559 421 1560 414 1560 416 1560 421 1561 442 1561 447 1561 421 1562 438 1562 442 1562 421 1563 447 1563 414 1563 431 1564 432 1564 435 1564 411 1565 421 1565 415 1565 411 1566 435 1566 421 1566 427 1567 428 1567 431 1567 418 1568 431 1568 435 1568 418 1569 427 1569 431 1569 418 1570 435 1570 411 1570 423 1571 425 1571 427 1571 423 1572 427 1572 418 1572 443 1573 392 1573 394 1573 360 1574 410 1574 409 1574 429 1575 375 1575 377 1575 429 1576 426 1576 375 1576 389 1577 392 1577 443 1577 358 1578 360 1578 409 1578 366 1579 417 1579 410 1579 366 1580 410 1580 360 1580 441 1581 389 1581 443 1581 379 1582 429 1582 377 1582 430 1583 429 1583 379 1583 354 1584 409 1584 406 1584 388 1585 389 1585 441 1585 354 1586 358 1586 409 1586 370 1587 422 1587 417 1587 382 1588 430 1588 379 1588 370 1589 417 1589 366 1589 439 1590 388 1590 441 1590 405 1591 354 1591 406 1591 433 1592 430 1592 382 1592 357 1593 354 1593 405 1593 383 1594 433 1594 382 1594 365 1595 412 1595 422 1595 365 1596 422 1596 370 1596 437 1597 385 1597 388 1597 437 1598 388 1598 439 1598 453 1599 357 1599 405 1599 434 1600 383 1600 385 1600 434 1601 385 1601 437 1601 434 1602 433 1602 383 1602 402 1603 357 1603 453 1603 413 1604 412 1604 365 1604 362 1605 413 1605 365 1605 400 1606 453 1606 450 1606 400 1607 402 1607 453 1607 368 1608 419 1608 413 1608 368 1609 413 1609 362 1609 449 1610 400 1610 450 1610 397 1611 400 1611 449 1611 371 1612 420 1612 419 1612 371 1613 419 1613 368 1613 446 1614 395 1614 397 1614 446 1615 397 1615 449 1615 373 1616 420 1616 371 1616 424 1617 420 1617 373 1617 394 1618 395 1618 446 1618 445 1619 394 1619 446 1619 375 1620 424 1620 373 1620 426 1621 424 1621 375 1621 443 1622 394 1622 445 1622 320 1623 316 1623 310 1623 353 1624 306 1624 305 1624 352 1625 310 1625 306 1625 352 1626 306 1626 353 1626 313 1627 312 1627 320 1627 313 1628 320 1628 310 1628 313 1629 310 1629 352 1629 345 1630 349 1630 348 1630 345 1631 352 1631 349 1631 324 1632 318 1632 313 1632 324 1633 322 1633 318 1633 324 1634 313 1634 352 1634 343 1635 352 1635 345 1635 339 1636 343 1636 341 1636 339 1637 352 1637 343 1637 329 1638 328 1638 326 1638 338 1639 326 1639 324 1639 338 1640 324 1640 352 1640 338 1641 329 1641 326 1641 338 1642 352 1642 339 1642 331 1643 329 1643 338 1643 334 1644 338 1644 335 1644 334 1645 331 1645 338 1645 301 1646 346 1646 347 1646 327 1647 330 1647 283 1647 327 1648 283 1648 281 1648 299 1649 346 1649 301 1649 350 1650 301 1650 347 1650 278 1651 327 1651 281 1651 302 1652 301 1652 350 1652 311 1653 265 1653 264 1653 297 1654 344 1654 346 1654 311 1655 264 1655 314 1655 297 1656 346 1656 299 1656 325 1657 327 1657 278 1657 351 1658 302 1658 350 1658 269 1659 265 1659 311 1659 255 1660 302 1660 351 1660 342 1661 344 1661 297 1661 277 1662 325 1662 278 1662 295 1663 342 1663 297 1663 307 1664 255 1664 351 1664 317 1665 269 1665 311 1665 323 1666 325 1666 277 1666 256 1667 255 1667 307 1667 321 1668 273 1668 269 1668 321 1669 277 1669 273 1669 321 1670 269 1670 317 1670 340 1671 342 1671 295 1671 321 1672 323 1672 277 1672 293 1673 340 1673 295 1673 257 1674 307 1674 304 1674 257 1675 256 1675 307 1675 291 1676 337 1676 340 1676 291 1677 340 1677 293 1677 308 1678 257 1678 304 1678 261 1679 257 1679 308 1679 289 1680 336 1680 337 1680 289 1681 337 1681 291 1681 309 1682 262 1682 261 1682 309 1683 261 1683 308 1683 333 1684 289 1684 287 1684 333 1685 336 1685 289 1685 315 1686 262 1686 309 1686 315 1687 271 1687 262 1687 332 1688 333 1688 287 1688 332 1689 287 1689 285 1689 319 1690 271 1690 315 1690 319 1691 275 1691 271 1691 330 1692 332 1692 285 1692 330 1693 285 1693 283 1693 264 1694 275 1694 319 1694 314 1695 264 1695 319 1695</p>
+        </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>