diff --git "a/ur5e/gripper/visual/robotiq_arg2f_85_outer_finger.dae" "b/ur5e/gripper/visual/robotiq_arg2f_85_outer_finger.dae"
new file mode 100644--- /dev/null
+++ "b/ur5e/gripper/visual/robotiq_arg2f_85_outer_finger.dae"
@@ -0,0 +1,98 @@
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160 1401 760 1401 745 1402 738 1402 189 1402 151 1403 671 1403 152 1403 771 1404 183 1404 181 1404 771 1405 181 1405 773 1405 746 1406 189 1406 187 1406 746 1407 745 1407 189 1407 169 1408 751 1408 748 1408 169 1409 748 1409 741 1409 169 1410 165 1410 751 1410 768 1411 183 1411 771 1411 199 1412 671 1412 151 1412 753 1413 746 1413 187 1413 766 1414 185 1414 183 1414 766 1415 183 1415 768 1415 173 1416 741 1416 740 1416 754 1417 187 1417 185 1417 173 1418 169 1418 741 1418 754 1419 753 1419 187 1419 764 1420 185 1420 766 1420 758 1421 754 1421 185 1421 758 1422 185 1422 764 1422 732 1423 173 1423 740 1423 732 1424 175 1424 173 1424 731 1425 175 1425 732 1425 733 1426 175 1426 731 1426 733 1427 177 1427 175 1427 784 1428 176 1428 837 1428 837 1429 176 1429 836 1429 712 1430 709 1430 162 1430 836 1431 176 1431 834 1431 166 1432 712 1432 162 1432 176 1433 178 1433 834 1433 712 1434 166 1434 170 1434 196 1435 198 1435 673 1435 194 1436 196 1436 673 1436 192 1437 194 1437 673 1437 190 1438 192 1438 673 1438 162 1439 709 1439 156 1439 198 1440 674 1440 673 1440 834 1441 178 1441 832 1441 712 1442 170 1442 161 1442 709 1443 674 1443 154 1443 190 1444 673 1444 793 1444 156 1445 709 1445 154 1445 832 1446 178 1446 830 1446 815 1447 712 1447 158 1447 812 1448 815 1448 158 1448 178 1449 180 1449 830 1449 712 1450 161 1450 158 1450 190 1451 793 1451 796 1451 188 1452 190 1452 796 1452 154 1453 674 1453 150 1453 830 1454 180 1454 827 1454 811 1455 812 1455 164 1455 806 1456 811 1456 164 1456 188 1457 796 1457 801 1457 812 1458 158 1458 164 1458 180 1459 182 1459 826 1459 827 1460 180 1460 826 1460 150 1461 674 1461 153 1461 186 1462 188 1462 804 1462 188 1463 801 1463 804 1463 802 1464 806 1464 168 1464 799 1465 802 1465 168 1465 826 1466 182 1466 824 1466 806 1467 164 1467 168 1467 186 1468 804 1468 808 1468 824 1469 182 1469 822 1469 182 1470 184 1470 822 1470 153 1471 674 1471 198 1471 184 1472 186 1472 814 1472 186 1473 808 1473 814 1473 794 1474 799 1474 172 1474 822 1475 184 1475 819 1475 799 1476 168 1476 172 1476 184 1477 814 1477 817 1477 819 1478 184 1478 817 1478 172 1479 174 1479 790 1479 794 1480 172 1480 790 1480 790 1481 174 1481 788 1481 788 1482 174 1482 784 1482 174 1483 176 1483 784 1483 723 1484 718 1484 691 1484 718 1485 688 1485 691 1485 685 1486 688 1486 718 1486 682 1487 685 1487 714 1487 685 1488 718 1488 714 1488 680 1489 682 1489 713 1489 682 1490 714 1490 713 1490 683 1491 680 1491 716 1491 680 1492 713 1492 716 1492 683 1493 716 1493 721 1493 686 1494 683 1494 729 1494 671 1495 686 1495 729 1495 683 1496 721 1496 729 1496 671 1497 729 1497 706 1497 723 1498 691 1498 695 1498 727 1499 723 1499 695 1499 699 1500 727 1500 697 1500 727 1501 695 1501 697 1501 701 1502 699 1502 666 1502 699 1503 697 1503 666 1503 703 1504 701 1504 668 1504 701 1505 666 1505 668 1505 711 1506 703 1506 676 1506 703 1507 668 1507 676 1507 709 1508 711 1508 674 1508 711 1509 676 1509 674 1509 692 1510 690 1510 725 1510 692 1511 725 1511 726 1511 693 1512 692 1512 728 1512 692 1513 726 1513 728 1513 694 1514 693 1514 698 1514 693 1515 728 1515 698 1515 696 1516 694 1516 700 1516 694 1517 698 1517 700 1517 667 1518 696 1518 702 1518 696 1519 700 1519 702 1519 677 1520 667 1520 708 1520 667 1521 702 1521 708 1521 724 1522 689 1522 687 1522 720 1523 724 1523 687 1523 719 1524 720 1524 684 1524 720 1525 687 1525 684 1525 715 1526 719 1526 681 1526 719 1527 684 1527 681 1527 717 1528 715 1528 679 1528 715 1529 681 1529 679 1529 722 1530 717 1530 678 1530 707 1531 722 1531 678 1531 717 1532 679 1532 678 1532 707 1533 678 1533 669 1533 252 1534 256 1534 254 1534 264 1535 263 1535 256 1535 259 1536 258 1536 264 1536 296 1537 299 1537 297 1537 296 1538 252 1538 299 1538 292 1539 296 1539 293 1539 272 1540 260 1540 259 1540 272 1541 268 1541 260 1541 272 1542 269 1542 268 1542 288 1543 292 1543 290 1543 288 1544 296 1544 292 1544 276 1545 273 1545 272 1545 282 1546 278 1546 276 1546 282 1547 286 1547 283 1547 282 1548 288 1548 286 1548 282 1549 256 1549 252 1549 282 1550 259 1550 264 1550 282 1551 264 1551 256 1551 282 1552 252 1552 296 1552 282 1553 272 1553 259 1553 282 1554 296 1554 288 1554 282 1555 276 1555 272 1555 280 1556 278 1556 282 1556 261 1557 216 1557 266 1557 261 1558 209 1558 216 1558 243 1559 291 1559 294 1559 242 1560 291 1560 243 1560 274 1561 275 1561 226 1561 274 1562 226 1562 223 1562 289 1563 291 1563 242 1563 246 1564 294 1564 295 1564 246 1565 243 1565 294 1565 239 1566 289 1566 242 1566 248 1567 295 1567 298 1567 257 1568 210 1568 209 1568 248 1569 246 1569 295 1569 257 1570 209 1570 261 1570 271 1571 223 1571 221 1571 287 1572 289 1572 239 1572 271 1573 274 1573 223 1573 211 1574 210 1574 257 1574 238 1575 287 1575 239 1575 249 1576 298 1576 251 1576 249 1577 248 1577 298 1577 265 1578 211 1578 257 1578 265 1579 218 1579 211 1579 285 1580 287 1580 238 1580 270 1581 221 1581 220 1581 270 1582 271 1582 221 1582 267 1583 270 1583 220 1583 267 1584 218 1584 265 1584 236 1585 285 1585 238 1585 267 1586 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200 1623 868 1623 212 1624 864 1624 215 1624 887 1625 234 1625 885 1625 887 1626 232 1626 234 1626 871 1627 201 1627 868 1627 884 1628 228 1628 230 1628 884 1629 882 1629 228 1629 867 1630 864 1630 212 1630 886 1631 232 1631 887 1631 886 1632 230 1632 232 1632 886 1633 884 1633 230 1633 203 1634 205 1634 862 1634 862 1635 205 1635 213 1635 247 1636 201 1636 871 1636 208 1637 867 1637 212 1637 873 1638 247 1638 871 1638 870 1639 867 1639 208 1639 245 1640 247 1640 873 1640 214 1641 870 1641 208 1641 881 1642 245 1642 873 1642 872 1643 870 1643 214 1643 244 1644 245 1644 881 1644 217 1645 872 1645 214 1645 880 1646 244 1646 881 1646 874 1647 872 1647 217 1647 241 1648 244 1648 880 1648 219 1649 874 1649 217 1649 879 1650 241 1650 880 1650 875 1651 874 1651 219 1651 240 1652 241 1652 879 1652 222 1653 875 1653 219 1653 878 1654 240 1654 879 1654 876 1655 875 1655 222 1655 237 1656 240 1656 878 1656 142 1657 138 1657 140 1657 134 1658 136 1658 138 1658 148 1659 142 1659 144 1659 148 1660 144 1660 146 1660 130 1661 132 1661 134 1661 100 1662 148 1662 103 1662 100 1663 138 1663 142 1663 100 1664 134 1664 138 1664 100 1665 130 1665 134 1665 100 1666 142 1666 148 1666 126 1667 128 1667 130 1667 126 1668 130 1668 100 1668 111 1669 100 1669 107 1669 111 1670 126 1670 100 1670 122 1671 124 1671 126 1671 109 1672 111 1672 104 1672 109 1673 126 1673 111 1673 118 1674 120 1674 122 1674 118 1675 122 1675 126 1675 118 1676 126 1676 109 1676 112 1677 118 1677 109 1677 114 1678 116 1678 118 1678 114 1679 118 1679 112 1679 133 1680 90 1680 92 1680 76 1681 117 1681 74 1681 119 1682 117 1682 76 1682 88 1683 90 1683 133 1683 56 1684 101 1684 149 1684 131 1685 88 1685 133 1685 56 1686 62 1686 101 1686 66 1687 102 1687 101 1687 66 1688 101 1688 62 1688 78 1689 119 1689 76 1689 121 1690 119 1690 78 1690 54 1691 149 1691 147 1691 86 1692 88 1692 131 1692 54 1693 56 1693 149 1693 71 1694 108 1694 102 1694 80 1695 121 1695 78 1695 71 1696 102 1696 66 1696 129 1697 86 1697 131 1697 145 1698 54 1698 147 1698 123 1699 121 1699 80 1699 84 1700 86 1700 129 1700 50 1701 54 1701 145 1701 61 1702 105 1702 108 1702 127 1703 84 1703 129 1703 61 1704 108 1704 71 1704 125 1705 80 1705 82 1705 125 1706 82 1706 84 1706 125 1707 84 1707 127 1707 125 1708 123 1708 80 1708 53 1709 145 1709 143 1709 53 1710 50 1710 145 1710 106 1711 105 1711 61 1711 58 1712 106 1712 61 1712 141 1713 53 1713 143 1713 98 1714 53 1714 141 1714 110 1715 106 1715 58 1715 64 1716 110 1716 58 1716 139 1717 98 1717 141 1717 96 1718 98 1718 139 1718 113 1719 110 1719 64 1719 69 1720 113 1720 64 1720 137 1721 94 1721 96 1721 137 1722 96 1722 139 1722 72 1723 113 1723 69 1723 115 1724 113 1724 72 1724 92 1725 94 1725 137 1725 135 1726 92 1726 137 1726 74 1727 115 1727 72 1727 117 1728 115 1728 74 1728 133 1729 92 1729 135 1729 866 1730 863 1730 79 1730 854 1731 68 1731 853 1731 59 1732 68 1732 854 1732 97 1733 838 1733 839 1733 95 1734 840 1734 838 1734 77 1735 866 1735 79 1735 95 1736 838 1736 97 1736 869 1737 866 1737 77 1737 99 1738 97 1738 839 1738 93 1739 842 1739 840 1739 93 1740 840 1740 95 1740 855 1741 59 1741 854 1741 855 1742 60 1742 59 1742 841 1743 99 1743 839 1743 75 1744 869 1744 77 1744 859 1745 869 1745 75 1745 51 1746 99 1746 841 1746 91 1747 842 1747 93 1747 844 1748 842 1748 91 1748 73 1749 859 1749 75 1749 843 1750 51 1750 841 1750 856 1751 65 1751 60 1751 856 1752 60 1752 855 1752 52 1753 51 1753 843 1753 857 1754 70 1754 65 1754 857 1755 73 1755 70 1755 857 1756 65 1756 856 1756 89 1757 844 1757 91 1757 857 1758 858 1758 73 1758 73 1759 858 1759 859 1759 846 1760 844 1760 89 1760 845 1761 52 1761 843 1761 55 1762 52 1762 845 1762 87 1763 846 1763 89 1763 848 1764 846 1764 87 1764 847 1765 55 1765 845 1765 57 1766 55 1766 847 1766 85 1767 848 1767 87 1767 850 1768 848 1768 85 1768 849 1769 57 1769 847 1769 63 1770 57 1770 849 1770 83 1771 850 1771 85 1771 852 1772 850 1772 83 1772 851 1773 63 1773 849 1773 67 1774 63 1774 851 1774 81 1775 852 1775 83 1775 863 1776 852 1776 81 1776 853 1777 67 1777 851 1777 68 1778 67 1778 853 1778 79 1779 863 1779 81 1779</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>