Add gripper to UR5e

Hi I try to add a gripper (robotiq 2f 85) to UR5e.
Both models are imported from URDF. I follow this post to add gripper to UR5e.

The problem is that I can’t control UR5e with gripper (gripper can’t be controlled, too), but I can control UR5e without gripper. Here is the USD of UR5e and gripper: (3.3 MB)

Besides, the rendering of UR5e is strange (some black area is on the UR5e).