diff --git a/resources/apartment.urdf b/resources/apartment.urdf
index 60b5a4d01..2900accb1 100644
--- a/resources/apartment.urdf
+++ b/resources/apartment.urdf
@@ -4,6 +4,27 @@
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
 <robot name="apartment">
+  <material name="sink">
+    <color rgba="0.6 0.6 0.6 1"/>
+  </material>
+  <material name="cabinet_surface">
+    <color rgba="0.3 0.3 0.3 1"/>
+  </material>
+  <material name="cooktop_surface">
+    <color rgba="0.2 0.2 0.2 1"/>
+  </material>
+  <material name="cabinet_handle">
+    <color rgba="0.8 0.8 0.8 1"/>
+  </material>
+  <material name="coloksu">
+    <color rgba="0.8 0.0 0.0 1"/>
+  </material>
+  <material name="countertop">
+    <color rgba="0.85 0.51 0.16 1"/>
+  </material>
+  <material name="island_sides">
+    <color rgba="0.3 0.3 0.3 1"/>
+  </material>
   <link name="apartment_root">
     <origin rpy="0 0 0" xyz="0 0 0"/>
   </link>
@@ -480,6 +501,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet01/IAICabinet1W60.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin xyz="0.0 0.0 0.0"/>
@@ -501,6 +523,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet01/IAIDoorW60H80.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14" xyz="0.001 -0.305 0.35"/>
@@ -533,7 +556,7 @@
     <child link="oven"/>
   </joint>
   <material name="oven_gray">
-    <color rgba="0.8 0.8 0.8 1"/>
+    <color rgba="0.5 0.5 0.5 1"/>
   </material>
   <link name="oven">
     <visual>
@@ -562,6 +585,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet01/IAIDrawerW60H26.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -600,6 +624,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet01/IAIDrawerW60H53.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 -3.14"/>
@@ -678,6 +703,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet02/IAICabinet2W40H57.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -706,6 +732,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet02/IAIDoorW40H212.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14" xyz="0 -0.2 0.145"/>
@@ -744,6 +771,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet02/IAIDrawerW40H10.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -765,6 +793,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet02/IAIDrawerW40H22.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -784,6 +813,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet03/IAICabinet3W60.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -812,6 +842,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet03/IAIDoorW60H133.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14" xyz="0.001 -0.3 -0.1"/>
@@ -858,6 +889,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet03/IAIDoorW60H80.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14" xyz="0.001 -0.3 -0.165"/>
@@ -894,6 +926,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet04/IAIKitchenCabinet4W100.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -914,6 +947,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet04/IAIDoor1W100H40.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14" xyz="0.0 0.0 -0.2"/>
@@ -936,6 +970,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet04/IAIDoor2W100H40.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14" xyz="-.014 0.0 -0.2"/>
@@ -972,6 +1007,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenCabinet5W60.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -992,6 +1028,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenDrawerW60H13.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1030,6 +1067,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenDrawerW60H26.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1068,6 +1106,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenDrawerW60H40.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1104,6 +1143,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenCabinet6W40.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -1124,6 +1164,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenDrawerW40H13.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1162,6 +1203,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenDrawerW40H26.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1200,6 +1242,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenDrawerW40H40.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1237,6 +1280,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet07/IAIKitchenCabinet7W60.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -1257,6 +1301,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet07/IAIKitchenDoorW60H80.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin xyz="0 0 0.385"/>
@@ -1335,6 +1380,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet08/IAIKitchenCabinet8W60_v2.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -1355,6 +1401,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet08/IAIKitchenDrawerW56H10.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1376,6 +1423,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet08/IAIKitchenDrawerW60H80.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1412,6 +1460,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenCabinet9W60.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -1432,6 +1481,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenDrawerW60H13.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1470,6 +1520,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenDrawerW60H26.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1508,6 +1559,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenDrawerW60H40.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1544,6 +1596,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenCabinet9W40.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -1564,6 +1617,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenDrawerW40H13.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1602,6 +1656,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenDrawerW40H26.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1640,6 +1695,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenDrawerW40H40.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1676,6 +1732,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenCabinet11W90.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -1696,6 +1753,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenDrawerW90H13.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1734,6 +1792,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenDrawerW90H26.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1772,6 +1831,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenDrawerW90H40.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1809,6 +1869,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/island/IAIKitchenIslandAreaTop.dae"/>
       </geometry>
+      <material name="countertop"/>
     </visual>
     <collision>
       <geometry>
@@ -1827,6 +1888,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cooktop/IAIKitchenCookTop.dae"/>
       </geometry>
+      <material name="cooktop_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -1869,6 +1931,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/sink/IAIKitchenSink.dae"/>
       </geometry>
+      <material name="sink"/>
     </visual>
     <collision>
       <geometry>
@@ -2010,6 +2073,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartIslandUnderSideW90H60/IAIKitchenVisiblePartIslandUnderSideW90H60.dae"/>
       </geometry>
+      <material name="island_sides"/>
     </visual>
     <collision>
       <geometry>
@@ -2028,6 +2092,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartIslandUnderSideW90H60/IAIKitchenVisiblePartIslandUnderSideW90H60.dae"/>
       </geometry>
+      <material name="island_sides"/>
     </visual>
     <collision>
       <geometry>
@@ -2046,6 +2111,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/IAIKitchenPartW314H90/IAIKitchenPartW314H90.dae"/>
       </geometry>
+      <material name="island_sides"/>
     </visual>
     <collision>
       <geometry>
@@ -2064,6 +2130,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/IAIKitchenPartW58H223/IAIKitchenPartW58H223.dae"/>
       </geometry>
+      <material name="island_sides"/>
     </visual>
     <collision>
       <geometry>
@@ -2082,6 +2149,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartUppersideW80H39/IAIKitchenVisiblePartUppersideW80H39.dae"/>
       </geometry>
+      <material name="island_sides"/>
     </visual>
     <collision>
       <geometry>
@@ -2100,6 +2168,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartUnderSideW90H58/IAIKitchenVisiblePartUnderSideW90H58.dae"/>
       </geometry>
+      <material name="island_sides"/>
     </visual>
     <collision>
       <geometry>
diff --git a/resources/apartment_without_walls.urdf b/resources/apartment_without_walls.urdf
index a807692d1..26f05aec7 100644
--- a/resources/apartment_without_walls.urdf
+++ b/resources/apartment_without_walls.urdf
@@ -4,6 +4,27 @@
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
 <robot name="apartment">
+  <material name="sink">
+    <color rgba="0.6 0.6 0.6 1"/>
+  </material>
+  <material name="cabinet_surface">
+    <color rgba="0.3 0.3 0.3 1"/>
+  </material>
+  <material name="cooktop_surface">
+    <color rgba="0.2 0.2 0.2 1"/>
+  </material>
+  <material name="cabinet_handle">
+    <color rgba="0.8 0.8 0.8 1"/>
+  </material>
+  <material name="coloksu">
+    <color rgba="0.8 0.0 0.0 1"/>
+  </material>
+  <material name="countertop">
+    <color rgba="0.85 0.51 0.16 1"/>
+  </material>
+  <material name="island_sides">
+    <color rgba="0.3 0.3 0.3 1"/>
+  </material>
   <link name="apartment_root">
     <origin rpy="0 0 0" xyz="0 0 0"/>
   </link>
@@ -395,6 +416,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet01/IAICabinet1W60.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin xyz="0.0 0.0 0.0"/>
@@ -416,6 +438,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet01/IAIDoorW60H80.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14" xyz="0.001 -0.305 0.35"/>
@@ -448,7 +471,7 @@
     <child link="oven"/>
   </joint>
   <material name="oven_gray">
-    <color rgba="0.8 0.8 0.8 1"/>
+    <color rgba="0.5 0.5 0.5 1"/>
   </material>
   <link name="oven">
     <visual>
@@ -477,6 +500,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet01/IAIDrawerW60H26.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -515,6 +539,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet01/IAIDrawerW60H53.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 -3.14"/>
@@ -593,6 +618,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet02/IAICabinet2W40H57.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -621,6 +647,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet02/IAIDoorW40H212.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14" xyz="0 -0.2 0.145"/>
@@ -659,6 +686,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet02/IAIDrawerW40H10.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -680,6 +708,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet02/IAIDrawerW40H22.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -699,6 +728,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet03/IAICabinet3W60.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -727,6 +757,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet03/IAIDoorW60H133.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14" xyz="0.001 -0.3 -0.1"/>
@@ -773,6 +804,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet03/IAIDoorW60H80.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14" xyz="0.001 -0.3 -0.165"/>
@@ -809,6 +841,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet04/IAIKitchenCabinet4W100.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -829,6 +862,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet04/IAIDoor1W100H40.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14" xyz="0.0 0.0 -0.2"/>
@@ -851,6 +885,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet04/IAIDoor2W100H40.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14" xyz="-.014 0.0 -0.2"/>
@@ -887,6 +922,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenCabinet5W60.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -907,6 +943,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenDrawerW60H13.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -945,6 +982,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenDrawerW60H26.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -983,6 +1021,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenDrawerW60H40.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1019,6 +1058,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenCabinet6W40.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -1039,6 +1079,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenDrawerW40H13.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1077,6 +1118,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenDrawerW40H26.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1115,6 +1157,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenDrawerW40H40.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1152,6 +1195,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet07/IAIKitchenCabinet7W60.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -1172,6 +1216,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet07/IAIKitchenDoorW60H80.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin xyz="0 0 0.385"/>
@@ -1250,6 +1295,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet08/IAIKitchenCabinet8W60_v2.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -1270,6 +1316,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet08/IAIKitchenDrawerW56H10.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1291,6 +1338,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet08/IAIKitchenDrawerW60H80.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1327,6 +1375,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenCabinet9W60.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -1347,6 +1396,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenDrawerW60H13.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1385,6 +1435,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenDrawerW60H26.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1423,6 +1474,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenDrawerW60H40.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1459,6 +1511,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenCabinet9W40.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -1479,6 +1532,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenDrawerW40H13.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1517,6 +1571,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenDrawerW40H26.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1555,6 +1610,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenDrawerW40H40.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1591,6 +1647,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenCabinet11W90.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -1611,6 +1668,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenDrawerW90H13.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1649,6 +1707,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenDrawerW90H26.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1687,6 +1746,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenDrawerW90H40.dae"/>
       </geometry>
+      <material name="cabinet_surface"/>
     </visual>
     <collision>
       <origin rpy="0 0 3.14"/>
@@ -1724,6 +1784,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/island/IAIKitchenIslandAreaTop.dae"/>
       </geometry>
+      <material name="countertop"/>
     </visual>
     <collision>
       <geometry>
@@ -1742,6 +1803,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/cooktop/IAIKitchenCookTop.dae"/>
       </geometry>
+      <material name="cooktop_surface"/>
     </visual>
     <collision>
       <geometry>
@@ -1784,6 +1846,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/sink/IAIKitchenSink.dae"/>
       </geometry>
+      <material name="sink"/>
     </visual>
     <collision>
       <geometry>
@@ -1925,6 +1988,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartIslandUnderSideW90H60/IAIKitchenVisiblePartIslandUnderSideW90H60.dae"/>
       </geometry>
+      <material name="island_sides"/>
     </visual>
     <collision>
       <geometry>
@@ -1943,6 +2007,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartIslandUnderSideW90H60/IAIKitchenVisiblePartIslandUnderSideW90H60.dae"/>
       </geometry>
+      <material name="island_sides"/>
     </visual>
     <collision>
       <geometry>
@@ -1961,6 +2026,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/IAIKitchenPartW314H90/IAIKitchenPartW314H90.dae"/>
       </geometry>
+      <material name="island_sides"/>
     </visual>
     <collision>
       <geometry>
@@ -1979,6 +2045,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/IAIKitchenPartW58H223/IAIKitchenPartW58H223.dae"/>
       </geometry>
+      <material name="island_sides"/>
     </visual>
     <collision>
       <geometry>
@@ -1997,6 +2064,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartUppersideW80H39/IAIKitchenVisiblePartUppersideW80H39.dae"/>
       </geometry>
+      <material name="island_sides"/>
     </visual>
     <collision>
       <geometry>
@@ -2015,6 +2083,7 @@
       <geometry>
         <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartUnderSideW90H58/IAIKitchenVisiblePartUnderSideW90H58.dae"/>
       </geometry>
+      <material name="island_sides"/>
     </visual>
     <collision>
       <geometry>
diff --git a/resources/kitchen-small.urdf b/resources/kitchen-small.urdf
new file mode 100644
index 000000000..18764ed70
--- /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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+        <!--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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.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.dae"/>
+      </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.dae"/>
+    </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>
diff --git a/resources/robots/pr2.urdf b/resources/robots/pr2.urdf
index 671407ef6..439087f3f 100644
--- a/resources/robots/pr2.urdf
+++ b/resources/robots/pr2.urdf
@@ -55,6 +55,9 @@
   <material name="LightGrey">
     <color rgba="0.6 0.6 0.6 1.0"/>
   </material>
+  <material name="ArmsGrey">
+    <color rgba="0.42 0.45 0.54 1.0"/>
+  </material>
   <material name="Caster">
     <texture filename="package://pr2_description/materials/textures/pr2_caster_texture.png"/>
   </material>
@@ -826,7 +829,7 @@
       <geometry>
         <mesh filename="package://pr2_description/meshes/head_v0/head_pan.dae"/>
       </geometry>
-      <material name="Blue"/>
+      <material name="White"/>
     </visual>
     <collision>
       <geometry>
@@ -857,7 +860,7 @@
       <geometry>
         <mesh filename="package://pr2_description/meshes/head_v0/head_tilt.dae"/>
       </geometry>
-      <material name="Green"/>
+      <material name="White"/>
     </visual>
     <collision>
       <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
@@ -1372,7 +1375,7 @@
       <geometry>
         <mesh filename="package://pr2_description/meshes/tilting_laser_v0/tilting_hokuyo.dae"/>
       </geometry>
-      <material name="Red"/>
+      <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -1452,7 +1455,7 @@
       <geometry>
         <mesh filename="package://pr2_description/meshes/shoulder_v0/shoulder_pan.dae"/>
       </geometry>
-      <material name="Blue"/>
+      <material name="White"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0.0 0 0.0"/>
@@ -1571,7 +1574,7 @@
       <geometry>
         <mesh filename="package://pr2_description/meshes/upper_arm_v0/upper_arm.dae"/>
       </geometry>
-      <material name="Green"/>
+      <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -1651,7 +1654,7 @@
       <geometry>
         <mesh filename="package://pr2_description/meshes/upper_arm_v0/elbow_flex.dae"/>
       </geometry>
-      <material name="Grey"/>
+      <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -1690,7 +1693,7 @@
       <geometry>
         <mesh filename="package://pr2_description/meshes/forearm_v0/forearm.dae"/>
       </geometry>
-      <material name="Grey"/>
+      <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -1800,7 +1803,7 @@
       <geometry>
         <mesh filename="package://pr2_description/meshes/gripper_v0/gripper_palm.dae"/>
       </geometry>
-      <material name="Red"/>
+      <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -1998,7 +2001,7 @@
       <geometry>
         <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
       </geometry>
-      <material name="Green"/>
+      <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -2033,7 +2036,7 @@
       <geometry>
         <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
       </geometry>
-      <material name="Green"/>
+      <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>
@@ -2337,7 +2340,7 @@
       <geometry>
         <mesh filename="package://pr2_description/meshes/shoulder_v0/shoulder_pan.dae"/>
       </geometry>
-      <material name="Blue"/>
+      <material name="White"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0.0 0 0.0"/>
@@ -2456,7 +2459,7 @@
       <geometry>
         <mesh filename="package://pr2_description/meshes/upper_arm_v0/upper_arm.dae"/>
       </geometry>
-      <material name="Green"/>
+      <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -2536,7 +2539,7 @@
       <geometry>
         <mesh filename="package://pr2_description/meshes/upper_arm_v0/elbow_flex.dae"/>
       </geometry>
-      <material name="Grey"/>
+      <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -2575,7 +2578,7 @@
       <geometry>
         <mesh filename="package://pr2_description/meshes/forearm_v0/forearm.dae"/>
       </geometry>
-      <material name="Grey"/>
+      <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -2685,7 +2688,7 @@
       <geometry>
         <mesh filename="package://pr2_description/meshes/gripper_v0/gripper_palm.dae"/>
       </geometry>
-      <material name="Red"/>
+      <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -2883,7 +2886,7 @@
       <geometry>
         <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
       </geometry>
-      <material name="Green"/>
+      <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -2918,7 +2921,7 @@
       <geometry>
         <mesh filename="package://pr2_description/meshes/gripper_v0/l_finger_tip.dae"/>
       </geometry>
-      <material name="Green"/>
+      <material name="LightGrey"/>
     </visual>
     <collision>
       <origin rpy="3.14159265359 0 0" xyz="0 0 0"/>