Increases gripper collision size.

Increases length of gripper body collision box from 13 to 15 cm.
This should hopefully fix issues w/ gripper colliding with table.
Day 2 trials, model edits. (committed before M30)

Moves arm 1 mm to left.
Replaces compressor collision mesh with a box that encompasses
the valve and gauge assembly.
Increases the length of the gripper collision box.
Honestly, I'm not even sure. Final manipulation demo.

This is the final manipulation demo code. Not sure what changed
here.`