diff --git a/resources/kitchen-small.urdf b/resources/kitchen-small.urdf
new file mode 100644
index 000000000..eea743fe4
--- /dev/null
+++ b/resources/kitchen-small.urdf
@@ -0,0 +1,2247 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from iai_kitchen_python.urdf.xacro  | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="iai_oven_area" xmlns:xacro="http://ros.org/wiki/xacro">
+  <material name="oven">
+    <color rgba="0.3 0.3 0.3 1"/>
+  </material>
+  <material name="sink">
+    <color rgba="0.6 0.6 0.6 1"/>
+  </material>
+  <material name="white">
+    <color rgba="0.9 0.9 0.9 1"/>
+  </material>
+   <material name="handles">
+    <color rgba="0.8 0.8 0.8 1"/>
+  </material>
+  <material name="island">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <link name="room_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+  </link>
+  <link name="world"/>
+  <joint name="world_room_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0 "/>
+    <parent link="world"/>
+    <child link="room_link"/>
+  </joint>
+  <gazebo>
+    <static>false</static>
+  </gazebo>
+  <!--- FIXME THIS should NOT be here -->
+  <!--
+  <link name="map">
+
+    <sphere_inertia radius="0" mass="0"/>
+  </link>
+  <iai_drawer_60_14 name="drawer_1" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 1"/>
+  </iai_drawer_60_14>
+
+  <iai_drawer_80_14 name="drawer_2" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 2"/>
+  </iai_drawer_80_14>
+
+  <iai_drawer_60_29 name="drawer_3" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 3"/>
+  </iai_drawer_60_29>
+
+  <iai_drawer_80_29 name="drawer_4" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 4"/>
+  </iai_drawer_80_29>
+
+  <iai_drawer_100_29 name="drawer_5" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 5"/>
+  </iai_drawer_100_29>
+  -->
+  <!--- FIXME THIS should NOT be here -->
+  <!--
+  <link name="oven_footprint">
+
+    <sphere_inertia radius="0" mass="0"/>
+  </link>
+  <iai_oven name="iai_oven" parent="oven_footprint"/>
+  -->
+  <!--- FIXME THIS should NOT be here -->
+  <!--
+  <link name="map">
+
+    <sphere_inertia radius="0" mass="0"/>
+  </link>
+  <iai_drawer_60_14 name="drawer_1" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 1"/>
+  </iai_drawer_60_14>
+
+  <iai_drawer_80_14 name="drawer_2" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 2"/>
+  </iai_drawer_80_14>
+
+  <iai_drawer_60_29 name="drawer_3" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 3"/>
+  </iai_drawer_60_29>
+
+  <iai_drawer_80_29 name="drawer_4" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 4"/>
+  </iai_drawer_80_29>
+
+  <iai_drawer_100_29 name="drawer_5" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 5"/>
+  </iai_drawer_100_29>
+  -->
+  <!--- FIXME THIS should NOT be here -->
+  <!--
+  <link name="map">
+
+    <sphere_inertia radius="0" mass="0"/>
+  </link>
+  <iai_drawer_60_14 name="drawer_1" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 1"/>
+  </iai_drawer_60_14>
+
+  <iai_drawer_80_14 name="drawer_2" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 2"/>
+  </iai_drawer_80_14>
+
+  <iai_drawer_60_29 name="drawer_3" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 3"/>
+  </iai_drawer_60_29>
+
+  <iai_drawer_80_29 name="drawer_4" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 4"/>
+  </iai_drawer_80_29>
+
+  <iai_drawer_100_29 name="drawer_5" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 5"/>
+  </iai_drawer_100_29>
+  -->
+  <!--- FIXME THIS should NOT be here -->
+  <!--
+  <link name="map">
+
+    <sphere_inertia radius="0" mass="0"/>
+  </link>
+  <iai_drawer_60_14 name="drawer_1" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 1"/>
+  </iai_drawer_60_14>
+
+  <iai_drawer_80_14 name="drawer_2" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 2"/>
+  </iai_drawer_80_14>
+
+  <iai_drawer_60_29 name="drawer_3" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 3"/>
+  </iai_drawer_60_29>
+
+  <iai_drawer_80_29 name="drawer_4" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 4"/>
+  </iai_drawer_80_29>
+
+  <iai_drawer_100_29 name="drawer_5" parent="map">
+    <origin rpy="0 0 0" xyz="0 0 5"/>
+  </iai_drawer_100_29>
+  -->
+  <link name="sink_area_footprint">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+  </link>
+  <link name="sink_area">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_footprint_joint" type="fixed">
+    <origin rpy="0 0 3.14159265359" xyz="1.825 1.32 0"/>
+    <child link="sink_area_footprint"/>
+    <parent link="room_link"/>
+  </joint>
+  <joint name="sink_area_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.29 1.03 0.41"/>
+    <parent link="sink_area_footprint"/>
+    <child link="sink_area"/>
+  </joint>
+  <link name="sink_area_surface">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.225 0"/>
+      <geometry>
+        <box size="0.575 1.6 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_surface_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0. 0.43"/>
+    <parent link="sink_area"/>
+    <child link="sink_area_surface"/>
+  </joint>
+  <link name="sink_area_sink">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/Sink.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_sink_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.47 0.4414"/>
+    <parent link="sink_area"/>
+    <child link="sink_area_sink"/>
+  </joint>
+  <link name="sink_area_right_panel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_right_panel_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.28 0.7 0.355 "/>
+    <parent link="sink_area"/>
+    <child link="sink_area_right_panel"/>
+  </joint>
+  <link name="sink_area_trash_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_trash_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_trash_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.01 0.7 -0.015 "/>
+    <parent link="sink_area"/>
+    <child link="sink_area_trash_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+    <limit effort="300" lower="0" upper="0" velocity="10"/>
+-->
+  </joint>
+  <joint name="sink_area_trash_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3325 0 0.2375"/>
+    <parent link="sink_area_trash_drawer_main"/>
+    <child link="sink_area_trash_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="sink_area_left_upper_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_14.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_left_upper_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_left_upper_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.01 -0.6 0.345 "/>
+    <parent link="sink_area"/>
+    <child link="sink_area_left_upper_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+    <limit effort="300" lower="0" upper="0" velocity="10"/>
+-->
+  </joint>
+  <joint name="sink_area_left_upper_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3325 0 0.0175"/>
+    <parent link="sink_area_left_upper_drawer_main"/>
+    <child link="sink_area_left_upper_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="sink_area_left_middle_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_left_middle_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_left_middle_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.01 -0.6 0.12 "/>
+    <parent link="sink_area"/>
+    <child link="sink_area_left_middle_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+    <limit effort="300" lower="0" upper="0" velocity="10"/>
+-->
+  </joint>
+  <joint name="sink_area_left_middle_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
+    <parent link="sink_area_left_middle_drawer_main"/>
+    <child link="sink_area_left_middle_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="sink_area_left_bottom_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_left_bottom_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_left_bottom_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.01 -0.6 -0.18 "/>
+    <parent link="sink_area"/>
+    <child link="sink_area_left_bottom_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+    <limit effort="300" lower="0" upper="0" velocity="10"/>
+-->
+  </joint>
+  <joint name="sink_area_left_bottom_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
+    <parent link="sink_area_left_bottom_drawer_main"/>
+    <child link="sink_area_left_bottom_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="sink_area_dish_washer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_dish_washer_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_dish_washer_door_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <!--
+    <xacro:if value="simulated"/>
+    -->
+  <joint name="sink_area_dish_washer_main_joint" type="revolute">
+    <axis xyz="1 0 0" />
+    <limit effort="300" lower="0" upper="0" velocity="10"/>
+    <origin rpy="0 0 0" xyz="0.01 0.1 0.044 "/>
+    <parent link="sink_area"/>
+    <child link="sink_area_dish_washer_main"/>
+  </joint>
+  <joint name="sink_area_dish_washer_door_joint" type="revolute">
+    <origin rpy="-1.57079632679 0 0" xyz="0.27 0. -0.325"/>
+    <parent link="sink_area_dish_washer_main"/>
+    <child link="sink_area_dish_washer_door"/>
+    <axis xyz="0 0 1"/>
+    <!-- FIXME make closed position stable instead of forbidding opening... -->
+    <limit effort="300" lower="0" upper="0" velocity="10"/>
+  </joint>
+  <joint name="sink_area_dish_washer_door_handle_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 0" xyz="0.0625 -0.6325 0."/>
+    <parent link="sink_area_dish_washer_door"/>
+    <child link="sink_area_dish_washer_door_handle"/>
+  </joint>
+  <link name="oven_area_area_footprint">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+  </link>
+  <link name="oven_area_area">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_footprint_joint" type="fixed">
+    <origin rpy="0 0 3.14159265359" xyz="1.805 2.52 0"/>
+    <child link="oven_area_area_footprint"/>
+    <parent link="room_link"/>
+  </joint>
+  <joint name="oven_area_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.29 0.6 0.755"/>
+    <parent link="oven_area_area_footprint"/>
+    <child link="oven_area_area"/>
+  </joint>
+  <!-- LINKS -->
+  <link name="oven_area_oven_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_oven_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenDoor.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_oven_door_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_oven_panel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenPanel.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- JOINTS -->
+  <joint name="oven_area_oven_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.415"/>
+    <parent link="oven_area_area"/>
+    <child link="oven_area_oven_main"/>
+  </joint>
+  <joint name="oven_area_oven_door_joint" type="revolute">
+    <origin rpy="-1.57079632679 0 0" xyz="0.2737 0. -0.2614"/>
+    <parent link="oven_area_oven_main"/>
+    <child link="oven_area_oven_door"/>
+    <axis xyz="0 0 1"/>
+    <!--
+        <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
+        -->
+    <!-- FIXME make the closed position stable -->
+    <limit effort="0.03" lower="0" upper="0." velocity="10"/>
+    <dynamics damping="100.1"/>
+  </joint>
+  <gazebo reference="oven_area_oven_door_joint">
+    <kp>1000000000</kp>
+    <kd>1000000000</kd>
+  </gazebo>
+  <joint name="oven_area_oven_door_handle_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 0" xyz="0.05876 -0.39803 0."/>
+    <parent link="oven_area_oven_door"/>
+    <child link="oven_area_oven_door_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <joint name="oven_area_oven_panel_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.27 0 0.2449"/>
+    <parent link="oven_area_oven_main"/>
+    <child link="oven_area_oven_panel"/>
+  </joint>
+  <!--KNOBS -->
+  <link name="oven_area_oven_knob_stove_1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_oven_knob_stove_1_joint" type="revolute">
+    <origin rpy="0 -1.57079632679 0" xyz="0 -0.21 0"/>
+    <parent link="oven_area_oven_panel"/>
+    <child link="oven_area_oven_knob_stove_1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
+  </joint>
+  <link name="oven_area_oven_knob_stove_2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_oven_knob_stove_2_joint" type="revolute">
+    <origin rpy="0 -1.57079632679 0" xyz="0 -0.14 0"/>
+    <parent link="oven_area_oven_panel"/>
+    <child link="oven_area_oven_knob_stove_2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
+  </joint>
+  <link name="oven_area_oven_knob_stove_3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_oven_knob_stove_3_joint" type="revolute">
+    <origin rpy="0 -1.57079632679 0" xyz="0 -0.07 0"/>
+    <parent link="oven_area_oven_panel"/>
+    <child link="oven_area_oven_knob_stove_3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
+  </joint>
+  <link name="oven_area_oven_knob_stove_4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_oven_knob_stove_4_joint" type="revolute">
+    <origin rpy="0 -1.57079632679 0" xyz="0 -0.0 0"/>
+    <parent link="oven_area_oven_panel"/>
+    <child link="oven_area_oven_knob_stove_4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
+  </joint>
+  <link name="oven_area_oven_knob_oven">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_oven_knob_oven_joint" type="revolute">
+    <origin rpy="0 -1.57079632679 0" xyz="0 0.16 0"/>
+    <parent link="oven_area_oven_panel"/>
+    <child link="oven_area_oven_knob_oven"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
+  </joint>
+  <link name="oven_area_area_middle_upper_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_14.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_area_middle_upper_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_middle_upper_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0 -0. 0.045 "/>
+    <parent link="oven_area_area"/>
+    <child link="oven_area_area_middle_upper_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+    <limit effort="300" lower="0" upper="0" velocity="10"/>
+-->
+  </joint>
+  <joint name="oven_area_area_middle_upper_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3325 0 0.0175"/>
+    <parent link="oven_area_area_middle_upper_drawer_main"/>
+    <child link="oven_area_area_middle_upper_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="oven_area_area_middle_lower_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_area_middle_lower_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_middle_lower_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0 -0. -0.315 "/>
+    <parent link="oven_area_area"/>
+    <child link="oven_area_area_middle_lower_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+    <limit effort="300" lower="0" upper="0" velocity="10"/>
+-->
+  </joint>
+  <joint name="oven_area_area_middle_lower_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3325 0 0.2375"/>
+    <parent link="oven_area_area_middle_lower_drawer_main"/>
+    <child link="oven_area_area_middle_lower_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <!-- This is the vertical drawer -->
+  <link name="oven_area_area_left_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_area_left_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="oven_area_area_left_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0 -0.45 0.06 "/>
+    <parent link="oven_area_area"/>
+    <child link="oven_area_area_left_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+
+        <limit effort="300" lower="0" upper="0" velocity="10"/>
+  </joint>
+  <joint name="oven_area_area_left_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+</joint>
+<!-- The inserted drawer -->
+
+ <!-- This is the vertical Drawer -->
+ <!-- Joint oven area to the drawer -->
+  <joint name="oven_area_area_right_drawer_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.02 0.44 0.05"/>
+    <parent link="oven_area_area"/>
+    <child link="oven_area_area_right_drawer_main"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!--  the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+
+</joint>
+
+
+<link name="oven_area_area_right_drawer_main">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="4e-08" ixy="0" ixz="0" iyy="4e-08" iyz="0" izz="4e-08"/>
+    </inertial>
+</link>
+
+  <joint name="drawer_oven_right_front_joint" type="fixed">
+    <origin rpy="0 0. 0" xyz="0.25 0 0"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="drawer_oven_right_front_link"/>
+    <!--
+    <axis xyz="0.999 0 0.044"/>
+     the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    -->
+</joint>
+
+  <link name="drawer_oven_right_front_link">
+      <inertial>
+        <mass value="1.0"/>
+        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
+      </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.025 0.295 1.325"/>
+      </geometry>
+      <material name="white"/>
+      </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.025 0.3 1.33"/>
+      </geometry>
+    </collision>
+</link>
+
+<!-- Board 0 -->
+
+<link name="drawer_oven_right_board0_link">
+    <inertial>
+        <mass value="1.0"/>
+        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
+      </inertial>
+
+    <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.27 0.025"/>
+        </geometry>
+      <material name="white"/>
+      </visual>
+    <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.27 0.025"/>
+        </geometry>
+    </collision>
+</link>
+
+<joint name="drawer_oven_right_board0_joint" type="fixed">
+    <origin xyz="0 0 -0.655"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="drawer_oven_right_board0_link"/>
+    <!--
+    <axis xyz="0.999 0 0.044"/>
+     the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    -->
+
+</joint>
+
+<link name="drawer_oven_right_board0_barrier_right_link">
+    <inertial>
+        <mass value="1.0"/>
+        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
+    </inertial>
+
+    <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.02 0.05"/>
+        </geometry>
+      <material name="white"/>
+      </visual>
+    <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.02 0.05"/>
+        </geometry>
+    </collision>
+</link>
+
+<joint name="drawer_oven_right_board0_barrier_right_joint" type="fixed">
+    <origin xyz="0 -0.135 -0.62"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="drawer_oven_right_board0_barrier_right_link"/>
+</joint>
+
+<link name="drawer_oven_right_board0_barrier_left_link">
+    <inertial>
+        <mass value="1.0"/>
+        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
+    </inertial>
+
+    <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.02 0.05"/>
+        </geometry>
+      <material name="white"/>
+      </visual>
+    <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.02 0.05"/>
+        </geometry>
+    </collision>
+</link>
+
+<joint name="drawer_oven_right_board0_barrier_left_joint" type="fixed">
+    <origin xyz="0 0.135 -0.62"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="drawer_oven_right_board0_barrier_left_link"/>
+</joint>
+
+<!-- Board 1 -->
+
+<link name="drawer_oven_right_board1_link">
+    <inertial>
+        <mass value="1.0"/>
+        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
+      </inertial>
+
+    <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.27 0.025"/>
+        </geometry>
+      <material name="white"/>
+      </visual>
+    <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.27 0.025"/>
+        </geometry>
+    </collision>
+</link>
+
+<joint name="drawer_oven_right_board1_joint" type="fixed">
+    <origin xyz="0 0 -0.33"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="drawer_oven_right_board1_link"/>
+</joint>
+
+<link name="drawer_oven_right_board1_barrier_right_link">
+    <inertial>
+        <mass value="1.0"/>
+        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
+    </inertial>
+
+    <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.02 0.05"/>
+        </geometry>
+      <material name="white"/>
+      </visual>
+    <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.02 0.05"/>
+        </geometry>
+    </collision>
+</link>
+
+<joint name="drawer_oven_right_board1_barrier_right_joint" type="fixed">
+    <origin xyz="0 -0.135 -0.295"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="drawer_oven_right_board1_barrier_right_link"/>
+</joint>
+
+<link name="drawer_oven_right_board1_barrier_left_link">
+    <inertial>
+        <mass value="1.0"/>
+        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
+    </inertial>
+
+    <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.02 0.05"/>
+        </geometry>
+      <material name="white"/>
+      </visual>
+    <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.02 0.05"/>
+        </geometry>
+    </collision>
+</link>
+
+<joint name="drawer_oven_right_board1_barrier_left_joint" type="fixed">
+    <origin xyz="0 0.135 -0.295"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="drawer_oven_right_board1_barrier_left_link"/>
+</joint>
+
+
+
+<!-- Board 2 -->
+
+<link name="drawer_oven_right_board2_link">
+    <inertial>
+        <mass value="1.0"/>
+        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
+      </inertial>
+
+    <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.27 0.025"/>
+        </geometry>
+      <material name="white"/>
+      </visual>
+    <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.27 0.025"/>
+        </geometry>
+    </collision>
+</link>
+
+<joint name="drawer_oven_right_board2_joint" type="fixed">
+    <origin xyz="0 0 0"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="drawer_oven_right_board2_link"/>
+</joint>
+
+<link name="drawer_oven_right_board2_barrier_right_link">
+    <inertial>
+        <mass value="1.0"/>
+        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
+    </inertial>
+
+    <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.02 0.05"/>
+        </geometry>
+      <material name="white"/>
+      </visual>
+    <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.02 0.05"/>
+        </geometry>
+    </collision>
+</link>
+
+<joint name="drawer_oven_right_board2_barrier_right_joint" type="fixed">
+    <origin xyz="0 -0.135 0.035"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="drawer_oven_right_board2_barrier_right_link"/>
+</joint>
+
+<link name="drawer_oven_right_board2_barrier_left_link">
+    <inertial>
+        <mass value="1.0"/>
+        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
+    </inertial>
+
+    <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.02 0.05"/>
+        </geometry>
+      <material name="white"/>
+      </visual>
+    <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.02 0.05"/>
+        </geometry>
+    </collision>
+</link>
+
+<joint name="drawer_oven_right_board2_barrier_left_joint" type="fixed">
+    <origin xyz="0 0.135 0.035"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="drawer_oven_right_board2_barrier_left_link"/>
+</joint>
+
+
+<!-- Board 3 -->
+
+<link name="drawer_oven_right_board3_link">
+    <inertial>
+        <mass value="1.0"/>
+        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
+      </inertial>
+
+    <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.27 0.025"/>
+        </geometry>
+      <material name="white"/>
+      </visual>
+    <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.27 0.025"/>
+        </geometry>
+    </collision>
+</link>
+
+<joint name="drawer_oven_right_board3_joint" type="fixed">
+    <origin xyz="0 0 0.33"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="drawer_oven_right_board3_link"/>
+</joint>
+
+
+<link name="drawer_oven_right_board3_barrier_right_link">
+    <inertial>
+        <mass value="1.0"/>
+        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
+    </inertial>
+
+    <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.02 0.05"/>
+        </geometry>
+      <material name="white"/>
+      </visual>
+    <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.02 0.05"/>
+        </geometry>
+    </collision>
+</link>
+
+<joint name="drawer_oven_right_board3_barrier_right_joint" type="fixed">
+    <origin xyz="0 -0.135 0.365"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="drawer_oven_right_board3_barrier_right_link"/>
+</joint>
+
+<link name="drawer_oven_right_board3_barrier_left_link">
+    <inertial>
+        <mass value="1.0"/>
+        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
+    </inertial>
+
+    <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.02 0.05"/>
+        </geometry>
+      <material name="white"/>
+      </visual>
+    <collision>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+            <box size="0.49 0.02 0.05"/>
+        </geometry>
+    </collision>
+</link>
+
+<joint name="drawer_oven_right_board3_barrier_left_joint" type="fixed">
+    <origin xyz="0 0.135 0.365"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="drawer_oven_right_board3_barrier_left_link"/>
+</joint>
+
+
+
+<!--
+  <gazebo reference="drawer_oven_right_link">
+    <material value="Ias/KitchenLightGray"/>
+</gazebo>
+-->
+<!-- Joint handle to drawer -->
+  <joint name="oven_area_area_right_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.05 0.0 0.0"/>
+    <parent link="drawer_oven_right_front_link" />
+    <child link="oven_area_area_right_drawer_handle" />
+</joint>
+
+  <link name="oven_area_area_right_drawer_handle">
+      <inertial>
+        <mass value="0.1"/>
+        <inertia ixx="0.0127110416667" ixy="0" ixz="0" iyy="1.66666666667e-06" iyz="0" izz="0.0127110416667"/>
+      </inertial>
+
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 1.235"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+      </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.015 1.24"/>
+      </geometry>
+  </collision>
+  </link>
+  <!--
+  <gazebo reference="handle_drawer_oven_right_link">
+    <material value="Ias/KitchenDarkGray"/>
+</gazebo>
+-->
+
+
+
+
+<!-- This is the vertical drawer -->
+<!--
+  <link name="oven_area_area_right_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="oven_area_area_right_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="oven_area_area_right_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0 0.45 0.06 "/>
+    <parent link="oven_area_area"/>
+    <child link="oven_area_area_right_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+
+        <limit effort="300" lower="0" upper="0" velocity="10"/>
+
+  </joint>
+
+  <joint name="oven_area_area_right_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+</joint>
+-->
+  <link name="kitchen_island_footprint">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+  </link>
+  <link name="kitchen_island">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/IslandArea.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_footprint_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-1.365 0.59 0"/>
+    <child link="kitchen_island_footprint"/>
+    <parent link="room_link"/>
+  </joint>
+  <joint name="kitchen_island_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.2975 1.1292 0.421"/>
+    <parent link="kitchen_island_footprint"/>
+    <child link="kitchen_island"/>
+  </joint>
+  <link name="kitchen_island_surface">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.8 2.45 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_surface_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0. 0.42"/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_surface"/>
+  </joint>
+  <link name="kitchen_island_stove">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/Stove.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_stove_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.7658 0.4315"/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_stove"/>
+  </joint>
+  <link name="kitchen_island_left_panel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_left_panel_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.2725 -0.8 0.329 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_left_panel"/>
+  </joint>
+  <link name="kitchen_island_left_upper_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_island_left_upper_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_left_upper_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0025 -0.8 0.114 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_left_upper_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+    <limit effort="300" lower="0" upper="0" velocity="10"/>
+-->
+  </joint>
+  <joint name="kitchen_island_left_upper_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
+    <parent link="kitchen_island_left_upper_drawer_main"/>
+    <child link="kitchen_island_left_upper_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="kitchen_island_left_lower_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_island_left_lower_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_left_lower_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0025 -0.8 -0.176 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_left_lower_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+    <limit effort="300" lower="0" upper="0" velocity="10"/>
+-->
+  </joint>
+  <joint name="kitchen_island_left_lower_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
+    <parent link="kitchen_island_left_lower_drawer_main"/>
+    <child link="kitchen_island_left_lower_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="kitchen_island_middle_panel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_100.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_middle_panel_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.2725 0 0.329 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_middle_panel"/>
+  </joint>
+  <link name="kitchen_island_middle_upper_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_island_middle_upper_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_middle_upper_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0025 0 0.114 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_middle_upper_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+    <limit effort="300" lower="0" upper="0" velocity="10"/>
+-->
+  </joint>
+  <joint name="kitchen_island_middle_upper_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
+    <parent link="kitchen_island_middle_upper_drawer_main"/>
+    <child link="kitchen_island_middle_upper_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="kitchen_island_middle_lower_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_island_middle_lower_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_middle_lower_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0025 0 -0.176 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_middle_lower_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+    <limit effort="300" lower="0" upper="0" velocity="10"/>
+-->
+  </joint>
+  <joint name="kitchen_island_middle_lower_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
+    <parent link="kitchen_island_middle_lower_drawer_main"/>
+    <child link="kitchen_island_middle_lower_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="kitchen_island_right_panel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_right_panel_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.2725 0.8 0.329 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_right_panel"/>
+  </joint>
+  <link name="kitchen_island_right_upper_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_island_right_upper_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_right_upper_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0025 0.8 0.114 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_right_upper_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+    <limit effort="300" lower="0" upper="0" velocity="10"/>
+-->
+  </joint>
+  <joint name="kitchen_island_right_upper_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
+    <parent link="kitchen_island_right_upper_drawer_main"/>
+    <child link="kitchen_island_right_upper_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="kitchen_island_right_lower_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_island_right_lower_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_right_lower_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0025 0.8 -0.176 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_right_lower_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+    <limit effort="300" lower="0" upper="0" velocity="10"/>
+-->
+  </joint>
+  <joint name="kitchen_island_right_lower_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
+    <parent link="kitchen_island_right_lower_drawer_main"/>
+    <child link="kitchen_island_right_lower_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="fridge_area_footprint">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+  </link>
+  <link name="fridge_area">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.01"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.obj"/>
+      </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/collision/kitchen_fridge.stl"/-->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="fridge_area_footprint_joint" type="fixed">
+    <origin rpy="0 0 3.14159265359" xyz="1.825 -0.74 0"/>
+    <child link="fridge_area_footprint"/>
+    <parent link="room_link"/>
+  </joint>
+  <joint name="fridge_area_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.29 .3 0.74"/>
+    <parent link="fridge_area_footprint"/>
+    <child link="fridge_area"/>
+  </joint>
+  <link name="fridge_area_lower_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="fridge_area_lower_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="fridge_area_lower_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0 -0.0 -0.4175 "/>
+    <parent link="fridge_area"/>
+    <child link="fridge_area_lower_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+    <limit effort="300" lower="0" upper="0" velocity="10"/>
+-->
+  </joint>
+  <joint name="fridge_area_lower_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
+    <parent link="fridge_area_lower_drawer_main"/>
+    <child link="fridge_area_lower_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="iai_fridge_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/Fridge.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.obj"/>
+      </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"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="iai_fridge_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="fridge_area"/>
+    <child link="iai_fridge_main"/>
+  </joint>
+  <joint name="iai_fridge_door_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.29 0.3 0.245"/>
+    <parent link="iai_fridge_main"/>
+    <child link="iai_fridge_door"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+    <!--
+      <limit lower="0" upper="0" effort="300" velocity="10"/>
+-->
+  </joint>
+  <joint name="iai_fridge_door_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.06 -0.57 0."/>
+    <parent link="iai_fridge_door"/>
+    <child link="iai_fridge_door_handle"/>
+  </joint>
+<!-- LINKS-->
+<link name="table_area">
+  <inertial>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <mass value="1"/>
+    <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+  </inertial>
+  <visual>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <geometry>
+      <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.obj"/>
+    </geometry>
+      <material name="white"/>
+      </visual>
+  <collision>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <geometry>
+      <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.stl"/>
+    </geometry>
+  </collision>
+</link>
+
+<!-- JOINTS -->
+<joint name="table_area_joint" type="fixed">
+  <origin rpy="0 0 3.14159265359" xyz="-2.7 -0.6 0"/>
+  <parent link="room_link"/>
+  <child link="table_area"/>
+</joint>
+  <!-- LINKS -->
+  <!-- Included above already
+  <iai_sink_area name="sink_area" parent="room_link">
+    <origin xyz="-5.29 -5.65 0" rpy="0 0 0" />
+  </iai_sink_area>
+
+  <iai_oven_area name="oven_area" parent="room_link">
+    <origin xyz="-5.27 -6.85 0" rpy="0 0 0" />
+  </iai_oven_area>
+
+
+  <iai_kitchen_island name="kitchen_island" parent="room_link">
+    <origin xyz="-2.1 -4.94 0" rpy="0 0 ${pi}" />
+  </iai_kitchen_island>
+
+  <iai_fridge_area name="fridge_area" parent="room_link">
+    <origin xyz="-5.29 -3.59 0" rpy="0 0 0" />
+  </iai_fridge_area>
+  -->
+</robot>