From 5d8534321403494ddd704685f7b71da309647a8a Mon Sep 17 00:00:00 2001
From: Steve Peters <scpeters@osrfoundation.org>
Date: Thu, 7 Feb 2013 15:04:56 -0800
Subject: [PATCH 1/2] Disable gravity for stereo_camera

---
 stereo_camera/model-1_3.sdf | 1 +
 1 file changed, 1 insertion(+)

diff --git a/stereo_camera/model-1_3.sdf b/stereo_camera/model-1_3.sdf
index cbaabb1..07a9709 100644
--- a/stereo_camera/model-1_3.sdf
+++ b/stereo_camera/model-1_3.sdf
@@ -3,6 +3,7 @@
   <model name="stereocamera">
     <link name="link">
       <pose>0.05 0.05 0.05 0 0 0</pose>
+      <gravity>false</gravity>
       <inertial>
         <mass>0.1</mass>
       </inertial>

From d239b45f30b40b2f634fd09b10bffc3a4a9c1fee Mon Sep 17 00:00:00 2001
From: Nate Koenig <natekoenig@gmail.com>
Date: Thu, 14 Feb 2013 10:16:28 -0800
Subject: [PATCH 2/2] Added collision

---
 stereo_camera/model-1_3.sdf | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/stereo_camera/model-1_3.sdf b/stereo_camera/model-1_3.sdf
index 07a9709..21f74f8 100644
--- a/stereo_camera/model-1_3.sdf
+++ b/stereo_camera/model-1_3.sdf
@@ -3,10 +3,18 @@
   <model name="stereocamera">
     <link name="link">
       <pose>0.05 0.05 0.05 0 0 0</pose>
-      <gravity>false</gravity>
       <inertial>
         <mass>0.1</mass>
       </inertial>
+
+      <visual name="collision">
+        <geometry>
+          <box>
+            <size>0.1 0.1 0.1</size>
+          </box>
+        </geometry>
+      </visual>
+
       <visual name="visual">
         <geometry>
           <box>