Shift door handle (they were not 'graspable' by HRP2)

CMakeLists.txt

@@ -63,6 +63,7 @@ install(FILES
   urdf/pr2.urdf
   urdf/box.urdf
   urdf/cup.urdf
+  urdf/door.urdf
   urdf/box_color.urdf
   urdf/rod.urdf
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
@@ -73,6 +74,7 @@ install(FILES
   srdf/box.srdf
   srdf/cup.srdf
   srdf/rod.srdf
+  srdf/door.srdf
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf
   )
 install(FILES

srdf/door.srdf

 <?xml version="1.0"?>
 <robot name="door">
   <handle name="handle1" clearance="0.025">
-    <position> 1 0.075 0.9 0.7071 0 0 -0.7071 </position>
+    <position> 0.9 0.075 0.9 0.7071 0 0 -0.7071 </position>
     <link name="door_link"/>
   </handle>
   <handle name="handle2" clearance="0.025">
-    <position> 1 -0.025 0.9 0.7071 0 0 0.7071 </position>
+    <position> 0.9 -0.025 0.9 0.7071 0 0 0.7071 </position>
     <link name="door_link"/>
   </handle>
   <disable_collisions link1="door_link"  link2="wall1_link" reason="Default" />

urdf/door.urdf

@@ -10,7 +10,7 @@
     </inertial>
 
     <visual>
-      <origin xyz="1 0.075 0.9" rpy="0 0 0" />
+      <origin xyz="0.9 0.075 0.9" rpy="0 0 0" />
       <geometry>
         <sphere radius="0.01"/>
       </geometry>
@@ -19,14 +19,14 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="1 0.075 0.9" rpy="0 0 0" />
+      <origin xyz="0.9 0.075 0.9" rpy="0 0 0" />
       <geometry>
         <sphere radius="0.01"/>
       </geometry>
     </collision>
 
     <visual>
-      <origin xyz="1 -0.025 0.9" rpy="0 0 0" />
+      <origin xyz="0.9 -0.025 0.9" rpy="0 0 0" />
       <geometry>
         <sphere radius="0.01"/>
       </geometry>
@@ -35,7 +35,7 @@
       </material>
     </visual>
     <collision>
-      <origin xyz="1 -0.025 0.9" rpy="0 0 0" />
+      <origin xyz="0.9 -0.025 0.9" rpy="0 0 0" />
       <geometry>
         <sphere radius="0.01"/>
       </geometry>