From bcca3bb67f3590f59a9d58315aadfbcda4962d0a Mon Sep 17 00:00:00 2001
From: John Hsu <johnhsu@willowgarage.com>
Date: Wed, 10 Oct 2012 17:16:46 -0700
Subject: [PATCH] fix simple arm simple gripper model

---
 simple_arm_gripper/model.sdf |  1 +
 simple_gripper/model.sdf     | 12 ++----------
 2 files changed, 3 insertions(+), 10 deletions(-)

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 e9fa1e3..01e2c18 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>
         <material>
@@ -249,14 +249,6 @@
         <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>