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Introduces a rigid gripper in a permanent pose of squeezing.\r\nSimply runs the simulation to see if the box slides out of the perma-grip.\n\n<!-- Reviewable:start -->\n---\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"34\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/5388)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/284467306","html_url":"https://github.com/RobotLocomotion/drake/pull/5388#issuecomment-284467306","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/5388","id":284467306,"user":{"login":"ggould-tri","id":17596413,"avatar_url":"https://avatars1.githubusercontent.com/u/17596413?v=3","gravatar_id":"","url":"https://api.github.com/users/ggould-tri","html_url":"https://github.com/ggould-tri","followers_url":"https://api.github.com/users/ggould-tri/followers","following_url":"https://api.github.com/users/ggould-tri/following{/other_user}","gists_url":"https://api.github.com/users/ggould-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/ggould-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ggould-tri/subscriptions","organizations_url":"https://api.github.com/users/ggould-tri/orgs","repos_url":"https://api.github.com/users/ggould-tri/repos","events_url":"https://api.github.com/users/ggould-tri/events{/privacy}","received_events_url":"https://api.github.com/users/ggould-tri/received_events","type":"User","site_admin":false},"created_at":"2017-03-06T17:22:57Z","updated_at":"2017-03-06T17:22:57Z","body":"\n\n\n\nReviewed 2 of 2 files at r4.\nReview status: all files reviewed at latest revision, all discussions resolved, some commit checks pending.\n\n---\n\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/5388)*\n<!-- Sent from Reviewable.io -->\n"}}
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