diff --git a/CMakeLists.txt b/CMakeLists.txt
index 82bbba7..9bdb579 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -47,6 +47,7 @@ set (dirs
   pioneer2dx
   powerplant
   pr2
+  pr2_gripper
   saucepan
   simple_arm
   simple_arm_gripper
diff --git a/manifest.xml b/manifest.xml
index 81b6e62..24142bd 100644
--- a/manifest.xml
+++ b/manifest.xml
@@ -20,6 +20,7 @@
     <uri>file://pioneer2dx</uri>
     <uri>file://powerplant</uri>
     <uri>file://pr2</uri>
+    <uri>file://pr2_gripper</uri>
     <uri>file://saucepan</uri>
     <uri>file://simple_arm</uri>
     <uri>file://simple_arm_gripper</uri>
diff --git a/pr2/model.sdf b/pr2/model.sdf
index 8c91745..e1d5a81 100644
--- a/pr2/model.sdf
+++ b/pr2/model.sdf
@@ -550,7 +550,7 @@
         <fov>0.959931</fov>
         <near_clip>0.100000</near_clip>
         <far_clip>10.000000</far_clip>
-        <pose>0.023200 0.110000 0.119100 3.141593 -1.570793 3.141593</pose>
+        <pose>0.023200 0.110000 0.119100 0 -1.570793 0</pose>
       </projector>
 
       <self_collide>0</self_collide>
diff --git a/pr2_gripper/manifest.xml b/pr2_gripper/manifest.xml
new file mode 100644
index 0000000..1ca1c62
--- /dev/null
+++ b/pr2_gripper/manifest.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>PR2 Gripper</name>
+  <version>1.0</version>
+  <sdf>model.sdf</sdf>
+
+  <author>
+    <name>John Hsu</name>
+    <email>hsu@osrfoundation.org</email>
+  </author>
+
+  <description>
+    The Willow Garage PR2 gripper model.
+  </description>
+
+  <depend>
+    <model>
+      <uri>model://pr2</uri>
+      <version>1.0</version>
+    </model>
+  </depend>
+</model>
diff --git a/pr2_gripper/model.sdf b/pr2_gripper/model.sdf
new file mode 100644
index 0000000..295f3e3
--- /dev/null
+++ b/pr2_gripper/model.sdf
@@ -0,0 +1,717 @@
+<?xml version="1.0" ?>
+<gazebo version='1.2'>
+  <model name='pr2_gripper'>
+    <pose>-0.771000 0.188000 -0.790675 3.141593 -1.570796 3.141593</pose>
+    <link name='r_wrist_roll_link'>
+      <pose>0.771000 -0.188000 0.790675 0.000000 -0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.056408 0.000451 -0.001014 0.000000 -0.000000 0.000000</pose>
+        <inertia>
+          <ixx>0.011352</ixx>
+          <ixy>-0.000016</ixy>
+          <ixz>-0.000001</ixz>
+          <iyy>0.011677</iyy>
+          <iyz>-0.000001</iyz>
+          <izz>0.011866</izz>
+        </inertia>
+        <mass>0.681070</mass>
+      </inertial>
+      <collision name='r_wrist_roll_link_geom'>
+        <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+        <geometry>
+          <mesh>
+            <uri>model://pr2/meshes/forearm_v0/wrist_roll_L.stl</uri>
+            <scale>1.000000 1.000000 1.000000</scale>
+            <uri>__default__</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>-1.000000</mu>
+              <mu2>-1.000000</mu2>
+              <fdir1>0.000000 0.000000 0.000000</fdir1>
+              <slip1>0.000000</slip1>
+              <slip2>0.000000</slip2>
+            </ode>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0.000000</restitution_coefficient>
+            <threshold>100000.000000</threshold>
+          </bounce>
+          <contact>
+            <ode>
+              <soft_cfm>0.000000</soft_cfm>
+              <soft_erp>0.200000</soft_erp>
+              <kp>1000000000000.000000</kp>
+              <kd>1.000000</kd>
+              <max_vel>0.000000</max_vel>
+              <min_depth>0.001000</min_depth>
+            </ode>
+          </contact>
+        </surface>
+        <laser_retro>0.000000</laser_retro>
+      </collision>
+      <visual name='r_wrist_roll_link_geom_visual'>
+        <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+        <geometry>
+          <mesh>
+            <uri>model://pr2/meshes/forearm_v0/wrist_roll.stl</uri>
+            <scale>1.000000 1.000000 1.000000</scale>
+            <uri>__default__</uri>
+          </mesh>
+        </geometry>
+        <material>
+          <script>
+            <name>__default__</name>
+          </script>
+        </material>
+        <cast_shadows>1</cast_shadows>
+        <laser_retro>0.000000</laser_retro>
+        <transparency>0.000000</transparency>
+      </visual>
+      <visual name='r_wrist_roll_link_geom_r_gripper_palm_link_visual'>
+        <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+        <geometry>
+          <mesh>
+            <uri>model://pr2/meshes/gripper_v0/gripper_palm.dae</uri>
+            <scale>1.000000 1.000000 1.000000</scale>
+            <uri>__default__</uri>
+          </mesh>
+        </geometry>
+        <cast_shadows>1</cast_shadows>
+        <laser_retro>0.000000</laser_retro>
+        <transparency>0.000000</transparency>
+      </visual>
+      <gravity>1</gravity>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <velocity_decay/>
+    </link>
+    <link name='r_gripper_l_finger_link'>
+      <pose>0.847910 -0.178000 0.790675 0.000000 -0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.035980 0.017300 -0.001640 0.000000 -0.000000 0.000000</pose>
+        <inertia>
+          <ixx>0.000078</ixx>
+          <ixy>0.000001</ixy>
+          <ixz>-0.000010</ixz>
+          <iyy>0.000197</iyy>
+          <iyz>-0.000003</iyz>
+          <izz>0.000181</izz>
+        </inertia>
+        <mass>0.171260</mass>
+      </inertial>
+      <collision name='r_gripper_l_finger_link_geom'>
+        <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+        <geometry>
+          <mesh>
+            <uri>model://pr2/meshes/gripper_v0/l_finger.stl</uri>
+            <scale>1.000000 1.000000 1.000000</scale>
+            <uri>__default__</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>500.000000</mu>
+              <mu2>500.000000</mu2>
+              <fdir1>0.000000 0.000000 0.000000</fdir1>
+              <slip1>0.000000</slip1>
+              <slip2>0.000000</slip2>
+            </ode>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0.000000</restitution_coefficient>
+            <threshold>100000.000000</threshold>
+          </bounce>
+          <contact>
+            <ode>
+              <soft_cfm>0.000000</soft_cfm>
+              <soft_erp>0.200000</soft_erp>
+              <kp>1000000.000000</kp>
+              <kd>1.000000</kd>
+              <max_vel>0.000000</max_vel>
+              <min_depth>0.001000</min_depth>
+            </ode>
+          </contact>
+        </surface>
+        <laser_retro>0.000000</laser_retro>
+      </collision>
+      <visual name='r_gripper_l_finger_link_geom_visual'>
+        <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+        <geometry>
+          <mesh>
+            <uri>model://pr2/meshes/gripper_v0/l_finger.dae</uri>
+            <scale>1.000000 1.000000 1.000000</scale>
+            <uri>__default__</uri>
+          </mesh>
+        </geometry>
+        <cast_shadows>1</cast_shadows>
+        <laser_retro>0.000000</laser_retro>
+        <transparency>0.000000</transparency>
+      </visual>
+      <gravity>1</gravity>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <velocity_decay/>
+    </link>
+    <link name='r_gripper_l_finger_tip_link'>
+      <pose>0.939280 -0.173050 0.790675 0.000000 -0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.004230 0.002840 0.000000 0.000000 -0.000000 0.000000</pose>
+        <inertia>
+          <ixx>0.000008</ixx>
+          <ixy>0.000006</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.000010</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000015</izz>
+        </inertia>
+        <mass>0.044190</mass>
+      </inertial>
+      <collision name='r_gripper_l_finger_tip_link_geom'>
+        <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+        <geometry>
+          <mesh>
+            <uri>model://pr2/meshes/gripper_v0/l_finger_tip.stl</uri>
+            <scale>1.000000 1.000000 1.000000</scale>
+            <uri>__default__</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>500.000000</mu>
+              <mu2>500.000000</mu2>
+              <fdir1>0.000000 0.000000 0.000000</fdir1>
+              <slip1>0.000000</slip1>
+              <slip2>0.000000</slip2>
+            </ode>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0.000000</restitution_coefficient>
+            <threshold>100000.000000</threshold>
+          </bounce>
+          <contact>
+            <ode>
+              <soft_cfm>0.000000</soft_cfm>
+              <soft_erp>0.200000</soft_erp>
+              <kp>10000000.000000</kp>
+              <kd>1.000000</kd>
+              <max_vel>0.000000</max_vel>
+              <min_depth>0.001000</min_depth>
+            </ode>
+          </contact>
+        </surface>
+        <laser_retro>0.000000</laser_retro>
+      </collision>
+      <visual name='r_gripper_l_finger_tip_link_geom_visual'>
+        <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+        <geometry>
+          <mesh>
+            <uri>model://pr2/meshes/gripper_v0/l_finger_tip.dae</uri>
+            <scale>1.000000 1.000000 1.000000</scale>
+            <uri>__default__</uri>
+          </mesh>
+        </geometry>
+        <cast_shadows>1</cast_shadows>
+        <laser_retro>0.000000</laser_retro>
+        <transparency>0.000000</transparency>
+      </visual>
+      <sensor name='r_gripper_l_finger_tip_contact_sensor' type='contact'>
+        <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+        <contact>
+          <collision>r_gripper_l_finger_tip_link_geom</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+        <always_on>0</always_on>
+        <update_rate>100.000000</update_rate>
+        <visualize>0</visualize>
+      </sensor>
+      <gravity>1</gravity>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <velocity_decay/>
+    </link>
+    <link name='r_gripper_motor_slider_link'>
+      <pose>0.939280 -0.188000 0.790675 0.000000 -0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+        <inertia>
+          <ixx>0.001000</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.001000</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.001000</izz>
+        </inertia>
+        <mass>0.010000</mass>
+      </inertial>
+      <gravity>1</gravity>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <velocity_decay/>
+    </link>
+    <link name='r_gripper_motor_screw_link'>
+      <pose>0.939280 -0.188000 0.790675 0.000000 -0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+        <inertia>
+          <ixx>0.000100</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.000100</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000100</izz>
+        </inertia>
+        <mass>0.010000</mass>
+      </inertial>
+      <gravity>1</gravity>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <velocity_decay/>
+    </link>
+    <link name='r_gripper_r_finger_link'>
+      <pose>0.847910 -0.198000 0.790675 0.000000 -0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.035760 -0.017360 -0.000950 0.000000 -0.000000 0.000000</pose>
+        <inertia>
+          <ixx>0.000077</ixx>
+          <ixy>-0.000002</ixy>
+          <ixz>-0.000008</ixz>
+          <iyy>0.000198</iyy>
+          <iyz>0.000002</iyz>
+          <izz>0.000181</izz>
+        </inertia>
+        <mass>0.173890</mass>
+      </inertial>
+      <collision name='r_gripper_r_finger_link_geom'>
+        <pose>0.000000 0.000000 0.000000 -3.141590 -0.000000 0.000000</pose>
+        <geometry>
+          <mesh>
+            <uri>model://pr2/meshes/gripper_v0/l_finger.stl</uri>
+            <scale>1.000000 1.000000 1.000000</scale>
+            <uri>__default__</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>500.000000</mu>
+              <mu2>500.000000</mu2>
+              <fdir1>0.000000 0.000000 0.000000</fdir1>
+              <slip1>0.000000</slip1>
+              <slip2>0.000000</slip2>
+            </ode>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0.000000</restitution_coefficient>
+            <threshold>100000.000000</threshold>
+          </bounce>
+          <contact>
+            <ode>
+              <soft_cfm>0.000000</soft_cfm>
+              <soft_erp>0.200000</soft_erp>
+              <kp>1000000.000000</kp>
+              <kd>1.000000</kd>
+              <max_vel>0.000000</max_vel>
+              <min_depth>0.001000</min_depth>
+            </ode>
+          </contact>
+        </surface>
+        <laser_retro>0.000000</laser_retro>
+      </collision>
+      <visual name='r_gripper_r_finger_link_geom_visual'>
+        <pose>0.000000 0.000000 0.000000 -3.141590 0.000000 0.000000</pose>
+        <geometry>
+          <mesh>
+            <uri>model://pr2/meshes/gripper_v0/l_finger.dae</uri>
+            <scale>1.000000 1.000000 1.000000</scale>
+            <uri>__default__</uri>
+          </mesh>
+        </geometry>
+        <cast_shadows>1</cast_shadows>
+        <laser_retro>0.000000</laser_retro>
+        <transparency>0.000000</transparency>
+      </visual>
+      <gravity>1</gravity>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <velocity_decay/>
+    </link>
+    <link name='r_gripper_r_finger_tip_link'>
+      <pose>0.939280 -0.202950 0.790675 0.000000 -0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.004230 -0.002840 0.000000 0.000000 -0.000000 0.000000</pose>
+        <inertia>
+          <ixx>0.000008</ixx>
+          <ixy>-0.000006</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.000010</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.000015</izz>
+        </inertia>
+        <mass>0.044190</mass>
+      </inertial>
+      <collision name='r_gripper_r_finger_tip_link_geom'>
+        <pose>0.000000 0.000000 0.000000 -3.141590 -0.000000 0.000000</pose>
+        <geometry>
+          <mesh>
+            <uri>model://pr2/meshes/gripper_v0/l_finger_tip.stl</uri>
+            <scale>1.000000 1.000000 1.000000</scale>
+            <uri>__default__</uri>
+          </mesh>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>500.000000</mu>
+              <mu2>500.000000</mu2>
+              <fdir1>0.000000 0.000000 0.000000</fdir1>
+              <slip1>0.000000</slip1>
+              <slip2>0.000000</slip2>
+            </ode>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0.000000</restitution_coefficient>
+            <threshold>100000.000000</threshold>
+          </bounce>
+          <contact>
+            <ode>
+              <soft_cfm>0.000000</soft_cfm>
+              <soft_erp>0.200000</soft_erp>
+              <kp>10000000.000000</kp>
+              <kd>1.000000</kd>
+              <max_vel>0.000000</max_vel>
+              <min_depth>0.001000</min_depth>
+            </ode>
+          </contact>
+        </surface>
+        <laser_retro>0.000000</laser_retro>
+      </collision>
+      <visual name='r_gripper_r_finger_tip_link_geom_visual'>
+        <pose>0.000000 0.000000 0.000000 -3.141590 0.000000 0.000000</pose>
+        <geometry>
+          <mesh>
+            <uri>model://pr2/meshes/gripper_v0/l_finger_tip.dae</uri>
+            <scale>1.000000 1.000000 1.000000</scale>
+            <uri>__default__</uri>
+          </mesh>
+        </geometry>
+        <cast_shadows>1</cast_shadows>
+        <laser_retro>0.000000</laser_retro>
+        <transparency>0.000000</transparency>
+      </visual>
+      <sensor name='r_gripper_r_finger_tip_contact_sensor' type='contact'>
+        <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+        <contact>
+          <collision>r_gripper_r_finger_tip_link_geom</collision>
+          <topic>__default_topic__</topic>
+        </contact>
+        <always_on>0</always_on>
+        <update_rate>100.000000</update_rate>
+        <visualize>0</visualize>
+      </sensor>
+      <gravity>1</gravity>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <velocity_decay/>
+    </link>
+    <link name='torso_lift_motor_screw_link'>
+      <pose>-0.150000 0.000000 0.751000 0.000000 -0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+        <inertia>
+          <ixx>0.001000</ixx>
+          <ixy>0.000000</ixy>
+          <ixz>0.000000</ixz>
+          <iyy>0.001000</iyy>
+          <iyz>0.000000</iyz>
+          <izz>0.001000</izz>
+        </inertia>
+        <mass>1.000000</mass>
+      </inertial>
+      <gravity>1</gravity>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <velocity_decay/>
+    </link>
+    <link name='r_gripper_l_parallel_link'>
+      <pose>0.829910 -0.157000 0.790675 0.000000 -0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.035980 0.017300 -0.001640 0.000000 -0.000000 0.000000</pose>
+        <inertia>
+          <ixx>0.000078</ixx>
+          <ixy>0.000001</ixy>
+          <ixz>-0.000010</ixz>
+          <iyy>0.000197</iyy>
+          <iyz>-0.000003</iyz>
+          <izz>0.000181</izz>
+        </inertia>
+        <mass>0.171260</mass>
+      </inertial>
+      <gravity>1</gravity>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <velocity_decay/>
+    </link>
+    <link name='r_gripper_r_parallel_link'>
+      <pose>0.829910 -0.219000 0.790675 0.000000 -0.000000 0.000000</pose>
+      <inertial>
+        <pose>0.035760 -0.017360 -0.000950 0.000000 -0.000000 0.000000</pose>
+        <inertia>
+          <ixx>0.000077</ixx>
+          <ixy>-0.000002</ixy>
+          <ixz>-0.000008</ixz>
+          <iyy>0.000198</iyy>
+          <iyz>0.000002</iyz>
+          <izz>0.000181</izz>
+        </inertia>
+        <mass>0.173890</mass>
+      </inertial>
+      <gravity>1</gravity>
+      <self_collide>0</self_collide>
+      <kinematic>0</kinematic>
+      <velocity_decay/>
+    </link>
+    <joint name='r_gripper_l_finger_joint' type='revolute'>
+      <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+      <parent>r_wrist_roll_link</parent>
+      <child>r_gripper_l_finger_link</child>
+      <axis>
+        <dynamics>
+          <damping>0.020000</damping>
+          <friction>0.000000</friction>
+        </dynamics>
+        <limit>
+          <lower>0.000000</lower>
+          <upper>0.548000</upper>
+          <effort>0.000000</effort>
+          <velocity>0.000000</velocity>
+        </limit>
+        <xyz>0.000000 0.000000 1.000000</xyz>
+      </axis>
+    </joint>
+    <joint name='r_gripper_l_finger_tip_joint' type='revolute'>
+      <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+      <parent>r_gripper_l_finger_link</parent>
+      <child>r_gripper_l_finger_tip_link</child>
+      <axis>
+        <dynamics>
+          <damping>0.001000</damping>
+          <friction>0.000000</friction>
+        </dynamics>
+        <limit>
+          <lower>0.000000</lower>
+          <upper>0.548000</upper>
+          <effort>0.000000</effort>
+          <velocity>0.000000</velocity>
+        </limit>
+        <xyz>0.000000 0.000000 -1.000000</xyz>
+      </axis>
+    </joint>
+    <joint name='r_gripper_motor_slider_joint' type='prismatic'>
+      <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+      <parent>r_wrist_roll_link</parent>
+      <child>r_gripper_motor_slider_link</child>
+      <axis>
+        <dynamics>
+          <damping>0.000000</damping>
+          <friction>0.000000</friction>
+        </dynamics>
+        <limit>
+          <lower>-0.100000</lower>
+          <upper>0.100000</upper>
+          <effort>0.000000</effort>
+          <velocity>0.000000</velocity>
+        </limit>
+        <xyz>1.000000 0.000000 0.000000</xyz>
+      </axis>
+    </joint>
+    <joint name='r_gripper_motor_screw_joint' type='revolute'>
+      <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+      <parent>r_gripper_motor_slider_link</parent>
+      <child>r_gripper_motor_screw_link</child>
+      <axis>
+        <dynamics>
+          <damping>0.000100</damping>
+          <friction>0.000000</friction>
+        </dynamics>
+        <limit>
+          <lower>-10000000000000000.000000</lower>
+          <upper>10000000000000000.000000</upper>
+          <effort>0.000000</effort>
+          <velocity>0.000000</velocity>
+        </limit>
+        <xyz>0.000000 1.000000 0.000000</xyz>
+      </axis>
+    </joint>
+    <joint name='r_gripper_r_finger_joint' type='revolute'>
+      <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+      <parent>r_wrist_roll_link</parent>
+      <child>r_gripper_r_finger_link</child>
+      <axis>
+        <dynamics>
+          <damping>0.020000</damping>
+          <friction>0.000000</friction>
+        </dynamics>
+        <limit>
+          <lower>0.000000</lower>
+          <upper>0.548000</upper>
+          <effort>0.000000</effort>
+          <velocity>0.000000</velocity>
+        </limit>
+        <xyz>0.000000 0.000000 -1.000000</xyz>
+      </axis>
+    </joint>
+    <joint name='r_gripper_r_finger_tip_joint' type='revolute'>
+      <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+      <parent>r_gripper_r_finger_link</parent>
+      <child>r_gripper_r_finger_tip_link</child>
+      <axis>
+        <dynamics>
+          <damping>0.001000</damping>
+          <friction>0.000000</friction>
+        </dynamics>
+        <limit>
+          <lower>0.000000</lower>
+          <upper>0.548000</upper>
+          <effort>0.000000</effort>
+          <velocity>0.000000</velocity>
+        </limit>
+        <xyz>0.000000 0.000000 1.000000</xyz>
+      </axis>
+    </joint>
+    <joint name='r_gripper_r_screw_screw_joint' type='screw'>
+      <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+      <parent>r_gripper_r_finger_tip_link</parent>
+      <child>r_gripper_motor_screw_link</child>
+      <thread_pitch>-3141.600000</thread_pitch>
+      <axis>
+        <dynamics>
+          <damping>0.000000</damping>
+          <friction>0.000000</friction>
+        </dynamics>
+        <limit>
+          <lower>-10000000000000000.000000</lower>
+          <upper>10000000000000000.000000</upper>
+          <effort>0.000000</effort>
+          <velocity>0.000000</velocity>
+        </limit>
+        <xyz>0.000000 1.000000 0.000000</xyz>
+      </axis>
+    </joint>
+    <joint name='r_gripper_l_screw_screw_joint' type='screw'>
+      <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+      <parent>r_gripper_l_finger_tip_link</parent>
+      <child>r_gripper_motor_screw_link</child>
+      <thread_pitch>3141.600000</thread_pitch>
+      <axis>
+        <dynamics>
+          <damping>0.000000</damping>
+          <friction>0.000000</friction>
+        </dynamics>
+        <limit>
+          <lower>-10000000000000000.000000</lower>
+          <upper>10000000000000000.000000</upper>
+          <effort>0.000000</effort>
+          <velocity>0.000000</velocity>
+        </limit>
+        <xyz>0.000000 1.000000 0.000000</xyz>
+      </axis>
+    </joint>
+    <joint name='r_gripper_r_parallel_root_joint' type='revolute'>
+      <pose>0.058910 -0.031000 0.000000 0.000000 -0.000000 0.000000</pose>
+      <parent>r_gripper_r_parallel_link</parent>
+      <child>r_wrist_roll_link</child>
+      <axis>
+        <dynamics>
+          <damping>0.200000</damping>
+          <friction>0.000000</friction>
+        </dynamics>
+        <limit>
+          <lower>-10000000000000000.000000</lower>
+          <upper>10000000000000000.000000</upper>
+          <effort>0.000000</effort>
+          <velocity>0.000000</velocity>
+        </limit>
+        <xyz>0.000000 0.000000 -1.000000</xyz>
+      </axis>
+    </joint>
+    <joint name='r_gripper_l_parallel_root_joint' type='revolute'>
+      <pose>0.058910 0.031000 0.000000 0.000000 -0.000000 0.000000</pose>
+      <parent>r_gripper_l_parallel_link</parent>
+      <child>r_wrist_roll_link</child>
+      <axis>
+        <dynamics>
+          <damping>0.200000</damping>
+          <friction>0.000000</friction>
+        </dynamics>
+        <limit>
+          <lower>-10000000000000000.000000</lower>
+          <upper>10000000000000000.000000</upper>
+          <effort>0.000000</effort>
+          <velocity>0.000000</velocity>
+        </limit>
+        <xyz>0.000000 0.000000 1.000000</xyz>
+      </axis>
+    </joint>
+    <joint name='r_gripper_r_parallel_tip_joint' type='revolute'>
+      <pose>-0.018000 -0.021000 0.000000 0.000000 -0.000000 0.000000</pose>
+      <parent>r_gripper_r_parallel_link</parent>
+      <child>r_gripper_r_finger_tip_link</child>
+      <axis>
+        <dynamics>
+          <damping>0.000000</damping>
+          <friction>0.000000</friction>
+        </dynamics>
+        <limit>
+          <lower>-10000000000000000.000000</lower>
+          <upper>10000000000000000.000000</upper>
+          <effort>0.000000</effort>
+          <velocity>0.000000</velocity>
+        </limit>
+        <xyz>0.000000 0.000000 1.000000</xyz>
+      </axis>
+    </joint>
+    <joint name='r_gripper_l_parallel_tip_joint' type='revolute'>
+      <pose>-0.018000 0.021000 0.000000 0.000000 -0.000000 0.000000</pose>
+      <parent>r_gripper_l_parallel_link</parent>
+      <child>r_gripper_l_finger_tip_link</child>
+      <axis>
+        <dynamics>
+          <damping>0.000000</damping>
+          <friction>0.000000</friction>
+        </dynamics>
+        <limit>
+          <lower>-10000000000000000.000000</lower>
+          <upper>10000000000000000.000000</upper>
+          <effort>0.000000</effort>
+          <velocity>0.000000</velocity>
+        </limit>
+        <xyz>0.000000 0.000000 1.000000</xyz>
+      </axis>
+    </joint>
+    <joint name='r_gripper_joint' type='prismatic'>
+      <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000</pose>
+      <parent>r_gripper_r_finger_tip_link</parent>
+      <child>r_gripper_l_finger_tip_link</child>
+      <axis>
+        <dynamics>
+          <damping>0.000000</damping>
+          <friction>0.000000</friction>
+        </dynamics>
+        <limit>
+          <lower>-10000000000000000.000000</lower>
+          <upper>10000000000000000.000000</upper>
+          <effort>0.000000</effort>
+          <velocity>0.000000</velocity>
+        </limit>
+        <xyz>0.000000 1.000000 0.000000</xyz>
+      </axis>
+    </joint>
+    <static>0</static>
+  </model>
+</gazebo>
+Success
diff --git a/simple_arm_gripper/manifest.xml b/simple_arm_gripper/manifest.xml
index d9f2ea8..8aace6d 100644
--- a/simple_arm_gripper/manifest.xml
+++ b/simple_arm_gripper/manifest.xml
@@ -10,6 +10,13 @@
     <email>hsu@osrfoundation.org</email>
   </author>
 
+  <depend>
+    <model>
+      <uri>model://simple_gripper</uri>
+      <version>1.0</version>
+    </model>
+  </depend>
+
   <description>
     A simple arm and pinch gripper.
   </description>
diff --git a/simple_arm_gripper/model.sdf b/simple_arm_gripper/model.sdf
index a2d31a5..88b52e4 100644
--- a/simple_arm_gripper/model.sdf
+++ b/simple_arm_gripper/model.sdf
@@ -7,6 +7,7 @@
 
     <include>
       <uri>model://simple_gripper</uri>
+      <pose>1.8 0 1 0 0 0</pose>
     </include>
 
     <plugin name="simple_arm_plugin" filename="libJointTrajectoryPlugin.so"/>
diff --git a/simple_gripper/model.sdf b/simple_gripper/model.sdf
index c128e4d..1171798 100644
--- a/simple_gripper/model.sdf
+++ b/simple_gripper/model.sdf
@@ -9,7 +9,7 @@
       <collision name="collision">
         <geometry>
           <box>
-            <size>0.2 0.2 1.0</size>
+            <size>0.05 0.05 1.0</size>
           </box>
         </geometry>
         <surface>
@@ -23,7 +23,7 @@
       <visual name="visual">
         <geometry>
           <box>
-            <size>0.2 0.2 1.0</size>
+            <size>0.05 0.05 1.0</size>
           </box>
         </geometry>
       </visual>
@@ -231,14 +231,6 @@
         <xyz>0 0 1</xyz>
       </axis>
     </joint>
-    <joint name="fixed_riser" type="revolute">
-      <child>riser</child>
-      <parent>world</parent>
-      <axis>
-        <limit><lower>0</lower><upper>0</upper></limit>
-        <xyz>0 0 1</xyz>
-      </axis>
-    </joint>
 
     <gripper name="simple_gripper">
       <grasp_check>