From 361186402d523ea07ee578c017c162fa0ed0ec1d Mon Sep 17 00:00:00 2001
From: kecks <pkehr@uni-bremen.de>
Date: Mon, 2 Sep 2024 09:24:36 +0200
Subject: [PATCH] [resources] use dae instead of obj files to remove undesired
 coloring

---
 resources/kitchen-small.urdf | 222 +++++++++++++++++------------------
 1 file changed, 111 insertions(+), 111 deletions(-)

diff --git a/resources/kitchen-small.urdf b/resources/kitchen-small.urdf
index eea743fe4..18764ed70 100644
--- a/resources/kitchen-small.urdf
+++ b/resources/kitchen-small.urdf
@@ -163,14 +163,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.dae"/>
       </geometry>
       <material name="sink"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.dae"/>
       </geometry>
     </collision>
   </link>
@@ -211,14 +211,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/Sink.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/misc/Sink.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/Sink.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/misc/Sink.dae"/>
       </geometry>
     </collision>
   </link>
@@ -236,14 +236,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
       </geometry>
     </collision>
   </link>
@@ -261,14 +261,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.dae"/>
       </geometry>
     </collision>
   </link>
@@ -281,14 +281,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
       <material name="handles"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
     </collision>
   </link>
@@ -318,14 +318,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_14.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_14.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_14.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_14.dae"/>
       </geometry>
     </collision>
   </link>
@@ -338,14 +338,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
       </geometry>
       <material name="handles"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
       </geometry>
     </collision>
   </link>
@@ -375,14 +375,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
       </geometry>
     </collision>
   </link>
@@ -395,14 +395,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
       </geometry>
     </collision>
   </link>
@@ -432,14 +432,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
       </geometry>
     </collision>
   </link>
@@ -452,14 +452,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
       </geometry>
       <material name="handles"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
       </geometry>
     </collision>
   </link>
@@ -489,14 +489,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.dae"/>
       </geometry>
     </collision>
   </link>
@@ -509,14 +509,14 @@
     <visual>
       <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.dae"/>
       </geometry>
     </collision>
   </link>
@@ -529,14 +529,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
       <material name="handles"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
     </collision>
   </link>
@@ -579,14 +579,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.dae"/>
       </geometry>
       <material name="oven"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.dae"/>
       </geometry>
     </collision>
   </link>
@@ -610,14 +610,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.dae"/>
       </geometry>
       <material name="oven"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.dae"/>
       </geometry>
     </collision>
   </link>
@@ -630,14 +630,14 @@
     <visual>
       <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/OvenDoor.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenDoor.dae"/>
       </geometry>
       <material name="oven"/>
       </visual>
     <collision>
       <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/OvenDoor.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenDoor.dae"/>
       </geometry>
     </collision>
   </link>
@@ -650,14 +650,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
       <material name="handles"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
     </collision>
   </link>
@@ -670,14 +670,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/OvenPanel.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenPanel.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/OvenPanel.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenPanel.dae"/>
       </geometry>
     </collision>
   </link>
@@ -725,14 +725,14 @@
     <visual>
       <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
       </geometry>
     </collision>
   </link>
@@ -752,14 +752,14 @@
     <visual>
       <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
       </geometry>
     </collision>
   </link>
@@ -779,14 +779,14 @@
     <visual>
       <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
       </geometry>
     </collision>
   </link>
@@ -806,14 +806,14 @@
     <visual>
       <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
       </geometry>
     </collision>
   </link>
@@ -833,14 +833,14 @@
     <visual>
       <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
       </geometry>
     </collision>
   </link>
@@ -860,14 +860,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_14.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_14.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_14.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_14.dae"/>
       </geometry>
     </collision>
   </link>
@@ -880,14 +880,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
       <material name="handles"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
     </collision>
   </link>
@@ -917,14 +917,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.dae"/>
       </geometry>
     </collision>
   </link>
@@ -937,14 +937,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
       <material name="handles"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
     </collision>
   </link>
@@ -975,14 +975,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.dae"/>
       </geometry>
     </collision>
   </link>
@@ -995,14 +995,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
       </geometry>
       <material name="handles"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1473,14 +1473,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1494,14 +1494,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
       </geometry>
       <material name="handles"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1541,14 +1541,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/IslandArea.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/racks/IslandArea.dae"/>
       </geometry>
       <material name="island"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/IslandArea.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/racks/IslandArea.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1589,14 +1589,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/Stove.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/misc/Stove.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/Stove.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/misc/Stove.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1614,14 +1614,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1639,14 +1639,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1659,14 +1659,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
       <material name="handles"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1696,14 +1696,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1716,14 +1716,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
       <material name="handles"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1753,14 +1753,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_100.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_100.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_100.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_100.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1778,14 +1778,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1798,14 +1798,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.dae"/>
       </geometry>
       <material name="handles"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1835,14 +1835,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1855,14 +1855,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.dae"/>
       </geometry>
       <material name="handles"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1892,14 +1892,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1917,14 +1917,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1937,14 +1937,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
       <material name="handles"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1974,14 +1974,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
       </geometry>
     </collision>
   </link>
@@ -1994,14 +1994,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
       <material name="handles"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
     </collision>
   </link>
@@ -2038,14 +2038,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0.01"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.dae"/>
       </geometry>
       <material name="island"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0.01"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.dae"/>
         <!--mesh filename="package://iai_kitchen/meshes/collision/kitchen_fridge.stl"/-->
       </geometry>
     </collision>
@@ -2069,14 +2069,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
       </geometry>
     </collision>
   </link>
@@ -2089,14 +2089,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
       <material name="handles"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
       </geometry>
     </collision>
   </link>
@@ -2126,14 +2126,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/Fridge.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/misc/Fridge.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/Fridge.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/misc/Fridge.dae"/>
       </geometry>
     </collision>
   </link>
@@ -2146,14 +2146,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.dae"/>
       </geometry>
       <material name="white"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.dae"/>
       </geometry>
     </collision>
   </link>
@@ -2166,14 +2166,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.dae"/>
       </geometry>
       <material name="handles"/>
       </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.obj"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.dae"/>
       </geometry>
     </collision>
   </link>
@@ -2207,7 +2207,7 @@
   <visual>
     <origin rpy="0 0 0" xyz="0 0 0"/>
     <geometry>
-      <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.obj"/>
+      <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.dae"/>
     </geometry>
       <material name="white"/>
       </visual>