diff --git a/data/r2d2.urdf b/data/r2d2.urdf
index 8e44dcdec..9f7c750c0 100644
--- a/data/r2d2.urdf
+++ b/data/r2d2.urdf
@@ -234,7 +234,7 @@
     <joint_properties damping="0.0" friction="0.0"/>
   </joint>
   <joint name="gripper_extension" type="prismatic">
-    <axis xyz="0 0 1"/>
+    <axis xyz="1 0 0"/>
     <parent link="base_link"/>
     <child link="gripper_pole"/>
     <limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/>
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 4d26967f1..48d7b57d6 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -1,5 +1,5 @@
 SUBDIRS( HelloWorld BasicDemo )
 IF(BUILD_BULLET3)
-	SUBDIRS( ExampleBrowser ThirdPartyLibs/Gwen OpenGLWindow)
+	SUBDIRS( ExampleBrowser SimpleOpenGL3 ThirdPartyLibs/Gwen OpenGLWindow)
 ENDIF()