<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /home/giang/Workspace/map_ws/src/iai_maps/iai_apartment/urdf/apartment.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="apartment">

  <link name="apartment_root">
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </link>
  <!-- we need this map link for knowrob to publish visualisation_marker_array properly. 
  for some reason knowrob do not publish them without map link in urdf -->
  <link name="map"/>
  <joint name="map_room_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 0 "/>
    <parent link="map"/>
    <child link="apartment_root"/>
  </joint>
  <joint name="furnitures_base" type="fixed">
    <origin xyz="8.85 1.75 0.0"/>
    <parent link="apartment_root"/>
    <child link="furnitures_root"/>
  </joint>
  <link name="furnitures_root"/>
  <!-- things and stuff -->
  <joint name="walls_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
    <parent link="furnitures_root"/>
    <child link="walls"/>
  </joint>
  <link name="walls">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/visual/walls.dae"/>
      </geometry>
    </visual>
    <!--collision>
          <geometry>
            <mesh filename="package://iai_apartment/meshes/collision/walls.stl" />
          </geometry>
        </collision-->
  </link>
  <joint name="windows_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 -0.2"/>
    <parent link="furnitures_root"/>
    <child link="windows"/>
  </joint>
  <link name="windows">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/visual/windows.dae"/>
      </geometry>
    </visual>
    <!--collision>
          <geometry>
            <mesh filename="package://iai_apartment/meshes/collision/windows.obj"/>
          </geometry>
        </collision-->
  </link>
  <!-- Collision okay Walls -->
  <!-- From the door side being wall 1, turn right and count the walls. -->
  <joint name="wall_coloksu_wall1_joint" type="fixed">
    <origin rpy="0 0 -1.57" xyz="0.6 -1.615 1.53"/>
    <parent link="furnitures_root"/>
    <child link="wall_coloksu_wall1"/>
  </joint>
  <link name="wall_coloksu_wall1">
    <collision>
      <origin rpy="0 1.57 0"/>
      <geometry>
        <box size="3.05 18.95 0.003"/>
      </geometry>
    </collision>
  </link>
  <joint name="wall_coloksu_wall2_joint" type="fixed">
    <origin rpy="0 0 3.14" xyz="-8.855 0.782 1.53"/>
    <parent link="furnitures_root"/>
    <child link="wall_coloksu_wall2"/>
  </joint>
  <link name="wall_coloksu_wall2">
    <collision>
      <origin rpy="0 1.57 0"/>
      <geometry>
        <box size="3.05 4.808 0.003"/>
      </geometry>
    </collision>
  </link>
  <joint name="wall_coloksu_wall3_joint" type="fixed">
    <origin rpy="0 0 1.57" xyz="0.6 3.180 1.53"/>
    <parent link="furnitures_root"/>
    <child link="wall_coloksu_wall3"/>
  </joint>
  <link name="wall_coloksu_wall3">
    <collision>
      <origin rpy="0 1.57 0"/>
      <geometry>
        <box size="3.05 18.95 0.003"/>
      </geometry>
    </collision>
  </link>
  <joint name="wall_coloksu_wall4_joint" type="fixed">
    <origin rpy="0 0 0" xyz="10.069 0.782 1.53"/>
    <parent link="furnitures_root"/>
    <child link="wall_coloksu_wall4"/>
  </joint>
  <link name="wall_coloksu_wall4">
    <collision>
      <origin rpy="0 1.57 0"/>
      <geometry>
        <box size="3.05 4.808 0.003"/>
      </geometry>
    </collision>
  </link>
  <joint name="wardrobe_joint" type="fixed">
    <origin rpy="0 0 0" xyz="9.7082 -0.6331 0.0"/>
    <parent link="furnitures_root"/>
    <child link="wardrobe"/>
  </joint>
  <link name="wardrobe">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/visual/wardrobe.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.2693 -0.4482 0.0750"/>
      <geometry>
        <box size="0.08 0.08 0.15"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.10603 -0.4482 0.0750"/>
      <geometry>
        <box size="0.08 0.08 0.15"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.2693 0.4482 0.0750"/>
      <geometry>
        <box size="0.08 0.08 0.15"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.10603 0.4482 0.0750"/>
      <geometry>
        <box size="0.08 0.08 0.15"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0805 0.0000 0.16345"/>
      <geometry>
        <box size="0.487 1.0000 0.0269"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0805 0.48965 0.975"/>
      <geometry>
        <box size="0.487 0.0207 1.65"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0896 0.0000 0.975"/>
      <geometry>
        <box size="0.4318 0.018568 1.65"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0805 -0.48965 0.975"/>
      <geometry>
        <box size="0.487 0.0207 1.65"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.14465 0.0000 0.975"/>
      <geometry>
        <box size="0.0367 1.0000 1.65"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.14465 0.0000 0.975"/>
      <geometry>
        <box size="0.0367 1.0000 1.65"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0805 0.0000 1.7865"/>
      <geometry>
        <box size="0.487 1.0000 0.027"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.08861 -0.244343 0.5727"/>
      <geometry>
        <box size="0.4299 0.469957 0.0118"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.08861 -0.244343 0.974836"/>
      <geometry>
        <box size="0.4299 0.469957 0.0118"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.08861 -0.244343 1.37686"/>
      <geometry>
        <box size="0.4299 0.469957 0.0118"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="1.5708 0 0" xyz="-0.086923 0.244373 1.66898"/>
      <geometry>
        <cylinder length="0.469897" radius="0.0075"/>
      </geometry>
    </collision>
  </link>
  <joint name="wardrobe_door_left_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.3246 0.5 0.0000"/>
    <parent link="wardrobe"/>
    <child link="wardrobe_door_left"/>
    <axis xyz="0 0 -1"/>
    <limit effort="1000.0" lower="0.0" upper="1.5708" velocity="1.5708"/>
  </joint>
  <link name="wardrobe_door_left">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/visual/wardrobe_door_left.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.006435 -0.2485 0.975"/>
      <geometry>
        <box size="0.012967 0.495438 1.64844"/>
      </geometry>
    </collision>
  </link>
  <joint name="wardrobe_door_left_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.032089 -0.460513 0.973703"/>
    <parent link="wardrobe_door_left"/>
    <child link="wardrobe_door_left_handle"/>
  </joint>
  <link name="wardrobe_door_left_handle">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/visual/wardrobe_door_handle.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.010421 0 0.059003"/>
      <geometry>
        <box size="0.033556 0.015082 0.014587"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0136 0 0"/>
      <geometry>
        <box size="0.014486 0.015082 0.13"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.010421 0 -0.059003"/>
      <geometry>
        <box size="0.033556 0.015082 0.014587"/>
      </geometry>
    </collision>
  </link>
  <joint name="wardrobe_door_right_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.3246 -0.5 0.0000"/>
    <parent link="wardrobe"/>
    <child link="wardrobe_door_right"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="0.0" upper="1.5708" velocity="1.5708"/>
  </joint>
  <link name="wardrobe_door_right">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/visual/wardrobe_door_right.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.006435 0.2485 0.975"/>
      <geometry>
        <box size="0.012967 0.495438 1.64844"/>
      </geometry>
    </collision>
  </link>
  <joint name="wardrobe_door_right_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.032089 0.460513 0.973703"/>
    <parent link="wardrobe_door_right"/>
    <child link="wardrobe_door_right_handle"/>
  </joint>
  <link name="wardrobe_door_right_handle">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/visual/wardrobe_door_handle.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.010421 0 0.059003"/>
      <geometry>
        <box size="0.033556 0.015082 0.014587"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0136 0 0"/>
      <geometry>
        <box size="0.014486 0.015082 0.13"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.010421 0 -0.059003"/>
      <geometry>
        <box size="0.033556 0.015082 0.014587"/>
      </geometry>
    </collision>
  </link>
  <joint name="armchair_joint" type="fixed">
    <origin rpy="0 0 1.9199" xyz="7.9688 -0.3791 0.0"/>
    <parent link="furnitures_root"/>
    <child link="armchair"/>
  </joint>
  <link name="armchair">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/visual/armchair.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/collision/armchair.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="sofa_joint" type="fixed">
    <origin rpy="0 0 0" xyz="8.1986 2.4096 0.0"/>
    <parent link="furnitures_root"/>
    <child link="sofa"/>
  </joint>
  <link name="sofa">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/visual/sofa.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/collision/sofa.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="coffee_table_joint" type="fixed">
    <origin rpy="0 0 1.5708" xyz="7.8034 1.02957 0.0"/>
    <parent link="furnitures_root"/>
    <child link="coffee_table"/>
  </joint>
  <link name="coffee_table">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/visual/coffee_table.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0000 0.0000 0.02977"/>
      <geometry>
        <box size="0.58 1.08 0.05954"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.022101 0.0000 0.06552"/>
      <geometry>
        <box size="0.6106 0.4 0.01196"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.0000 0.39975 0.220625"/>
      <geometry>
        <box size="0.7 0.4 0.32"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.0000 -0.39975 0.220625"/>
      <geometry>
        <box size="0.7 0.4 0.32"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.316343 0.0000 0.22"/>
      <geometry>
        <box size="0.0673 0.4 0.32"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.0000 0.0000 0.39"/>
      <geometry>
        <box size="0.7 1.2 0.02"/>
      </geometry>
    </collision>
  </link>
  <joint name="coffee_table_drawer_joint" type="prismatic">
    <parent link="coffee_table"/>
    <child link="coffee_table_drawer"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.5" velocity="0.5"/>
  </joint>
  <link name="coffee_table_drawer">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/visual/coffee_table_drawer.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.338806 0.0000 0.21892"/>
      <geometry>
        <box size="0.0214 0.396 0.31569"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.051066 0.0000 0.107979"/>
      <geometry>
        <box size="0.5521 0.3454 0.02144"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.207974 0.0000 0.238907"/>
      <geometry>
        <box size="0.0214 0.3486 0.2398"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.051066 -0.186206 0.226597"/>
      <geometry>
        <box size="0.5521 0.0214 0.26425"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.051066 0.186206 0.226597"/>
      <geometry>
        <box size="0.5521 0.0214 0.26425"/>
      </geometry>
    </collision>
  </link>
  <joint name="bedside_table_joint" type="fixed">
    <origin rpy="0 0 0" xyz="7.2110 0.1296 0.0"/>
    <parent link="furnitures_root"/>
    <child link="bedside_table"/>
  </joint>
  <link name="bedside_table">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/visual/bedside_table.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0000 0.0000 0.230"/>
      <geometry>
        <box size="0.312 0.312 0.460"/>
      </geometry>
    </collision>
  </link>
  <joint name="kitchen_base" type="fixed">
    <origin xyz="-0.03 0.75 0.005"/>
    <parent link="apartment_root"/>
    <child link="kitchen_root"/>
  </joint>
  <link name="kitchen_root"/>
  <!-- Frames, reference frames -->
  <joint name="frame_A_joint" type="fixed">
    <parent link="kitchen_root"/>
    <origin xyz="0.49 0.696 0.080"/>
    <child link="side_A"/>
  </joint>
  <!-- Bond, James Bond -->
  <joint name="frame_B_joint" type="fixed">
    <parent link="kitchen_root"/>
    <origin rpy="0 0 3.14" xyz="2.91 3.7 0.11"/>
    <child link="side_B"/>
  </joint>
  <link name="side_A"/>
  <link name="side_B"/>
  <!-- - - - - - - - - - - - - Cabinets side A - - - - - - - - - -->
  <!-- Cabinet1 -->
  <joint name="cabinet1_joint" type="fixed">
    <origin xyz="0.01 0.01 1.02"/>
    <parent link="side_A"/>
    <child link="cabinet1"/>
  </joint>
  <link name="cabinet1">
    <visual>
      <origin xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet01/IAICabinet1W60.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet01/IAICabinet1W60.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet1_door_top_left_joint" type="revolute">
    <origin rpy="0 0 3.14" xyz="0.103 -0.3 0.32"/>
    <parent link="cabinet1"/>
    <child link="cabinet1_door_top_left"/>
    <axis xyz="0 0 -1"/>
    <limit effort="1000.0" lower="0.0" upper="1.5708" velocity="1.5708"/>
  </joint>
  <link name="cabinet1_door_top_left">
    <visual>
      <origin rpy="0 0 3.14" xyz="0.001 -0.305 0.35"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet01/IAIDoorW60H80.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14" xyz="0.001 -0.305 0.35"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet01/IAIDoorW60H80.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab1_top_door_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.055 -0.5 0.0"/>
    <parent link="cabinet1_door_top_left"/>
    <child link="handle_cab1_top_door"/>
  </joint>
  <link name="handle_cab1_top_door">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.175 0.0 -0.025"/>
    <!-- <origin xyz="-0.125 0.0 -0.025" rpy="0 0 0"/> -->
    <parent link="cabinet1"/>
    <child link="oven"/>
  </joint>
  <material name="oven_gray">
    <color rgba="0.8 0.8 0.8 1"/>
  </material>
  <link name="oven">
    <visual>
      <geometry>
        <!-- <box size="0.58 0.58 0.59"/> -->
        <mesh filename="package://iai_apartment/meshes/cabinet01/oven.dae"/>
      </geometry>
      <!-- <material name="oven_gray"/> -->
    </visual>
    <collision>
      <geometry>
        <box size="0.58 0.58 0.59"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet1_drawer_middle_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="-0.117 0.0 -0.43"/>
    <parent link="cabinet1"/>
    <child link="cabinet1_drawer_middle"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet1_drawer_middle">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet01/IAIDrawerW60H26.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet01/IAIDrawerW60H26.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab1_drawer_mid_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.26 0.0 0.11"/>
    <parent link="cabinet1_drawer_middle"/>
    <child link="handle_cab1_drawer_mid"/>
  </joint>
  <link name="handle_cab1_drawer_mid">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet1_drawer_bottom_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="-0.094 0.0 -0.95"/>
    <parent link="cabinet1"/>
    <child link="cabinet1_drawer_bottom"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet1_drawer_bottom">
    <visual>
      <origin rpy="0 0 -3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet01/IAIDrawerW60H53.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 -3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet01/IAIDrawerW60H53.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab1_drawer_bottom_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.237 0.0 0.35"/>
    <parent link="cabinet1_drawer_bottom"/>
    <child link="handle_cab1_drawer_bottom"/>
  </joint>
  <link name="handle_cab1_drawer_bottom">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- Collision okay surface for cabinet1-->
  <material name="white">
    <color rgba="1 1 1 1"/>
  </material>
  <joint name="cabinet1_coloksu_level4_joint" type="fixed">
    <origin xyz="-0.172 0.005 0.281"/>
    <parent link="cabinet1"/>
    <child link="cabinet1_coloksu_level4"/>
  </joint>
  <link name="cabinet1_coloksu_level4">
    <visual>
      <geometry>
        <box size="0.534 0.568 0.003"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.534 0.568 0.003"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet1_coloksu_level5_joint" type="fixed">
    <!-- actually this should align with the CAD model but the CAD model is incorrect. -->
    <!-- <origin xyz="-0.172 0.005 0.672"/> -->
    <origin xyz="-0.172 0.005 0.56"/>
    <parent link="cabinet1"/>
    <child link="cabinet1_coloksu_level5"/>
  </joint>
  <link name="cabinet1_coloksu_level5">
    <visual>
      <geometry>
        <box size="0.534 0.568 0.02"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.534 0.568 0.02"/>
      </geometry>
    </collision>
  </link>
  <!-- Cabinet2 -->
  <joint name="cabinet2_joint" type="fixed">
    <origin xyz="-0.163 0.51 0.975"/>
    <parent link="side_A"/>
    <child link="cabinet2"/>
  </joint>
  <link name="cabinet2">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet02/IAICabinet2W40H57.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet02/IAICabinet2W40H57.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet2_door_out_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.277 -0.19 0.0"/>
    <parent link="cabinet2"/>
    <child link="cabinet2_door_out_fancy"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1.0" lower="0.0" upper="0.02" velocity="1.5708"/>
    <mimic joint="cabinet2_door_left_joint" multiplier="0.01"/>
  </joint>
  <link name="cabinet2_door_out_fancy"/>
  <joint name="cabinet2_door_left_joint" type="revolute">
    <parent link="cabinet2_door_out_fancy"/>
    <child link="cabinet2_door_left"/>
    <axis xyz="0 0 -1"/>
    <limit effort="1000.0" lower="0.0" upper="1.5708" velocity="1.5708"/>
  </joint>
  <link name="cabinet2_door_left">
    <visual>
      <origin rpy="0 0 3.14" xyz="0 -0.2 0.145"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet02/IAIDoorW40H212.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14" xyz="0 -0.2 0.145"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet02/IAIDoorW40H212.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab2_drawer_bottom_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.040 -0.29 0.05"/>
    <parent link="cabinet2_door_left"/>
    <child link="handle_cab2_door"/>
  </joint>
  <link name="handle_cab2_door">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet2_drawer_small_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="-0.01 0.0 0.17"/>
    <parent link="cabinet2"/>
    <child link="cabinet2_drawer_small"/>
    <axis xyz="-1 0 0"/>
    <limit effort="500.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet2_drawer_small">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet02/IAIDrawerW40H10.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet02/IAIDrawerW40H10.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet2_drawer_big_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.04 0.0 -0.12"/>
    <parent link="cabinet2"/>
    <child link="cabinet2_drawer_big"/>
    <axis xyz="-1 0 0"/>
    <limit effort="500.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet2_drawer_big">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet02/IAIDrawerW40H22.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet02/IAIDrawerW40H22.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- Cabinet3 -->
  <joint name="cabinet3_joint" type="fixed">
    <origin xyz="-0.273 1.022 1.07"/>
    <parent link="side_A"/>
    <child link="cabinet3"/>
  </joint>
  <link name="cabinet3">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet03/IAICabinet3W60.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet03/IAICabinet3W60.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet3_door_top_out_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.39 -0.3 0.5"/>
    <parent link="cabinet3"/>
    <child link="cabinet3_door_top_out_fancy"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1.0" lower="0.0" upper="0.02" velocity="1.5708"/>
    <mimic joint="cabinet3_door_top_left_joint" multiplier="0.01"/>
  </joint>
  <link name="cabinet3_door_top_out_fancy"/>
  <joint name="cabinet3_door_top_left_joint" type="revolute">
    <parent link="cabinet3_door_top_out_fancy"/>
    <child link="cabinet3_door_top_left"/>
    <axis xyz="0 0 -1"/>
    <limit effort="1000.0" lower="0.0" upper="1.5708" velocity="1.5708"/>
  </joint>
  <link name="cabinet3_door_top_left">
    <visual>
      <origin rpy="0 0 3.14" xyz="0.001 -0.3 -0.1"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet03/IAIDoorW60H133.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14" xyz="0.001 -0.3 -0.1"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet03/IAIDoorW60H133.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab3_door_top_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.036 -0.45 -0.65"/>
    <parent link="cabinet3_door_top_left"/>
    <child link="handle_cab3_door_top"/>
  </joint>
  <link name="handle_cab3_door_top">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet3_door_bottom_out_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.39 -0.3 -0.5"/>
    <parent link="cabinet3"/>
    <child link="cabinet3_door_bottom_out_fancy"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1.0" lower="0.0" upper="0.02" velocity="1.5708"/>
    <mimic joint="cabinet3_door_bottom_left_joint" multiplier="0.01"/>
  </joint>
  <link name="cabinet3_door_bottom_out_fancy"/>
  <joint name="cabinet3_door_bottom_left_joint" type="revolute">
    <parent link="cabinet3_door_bottom_out_fancy"/>
    <child link="cabinet3_door_bottom_left"/>
    <axis xyz="0 0 -1"/>
    <limit effort="1000.0" lower="0.0" upper="1.5708" velocity="1.5708"/>
  </joint>
  <link name="cabinet3_door_bottom_left">
    <visual>
      <origin rpy="0 0 3.14" xyz="0.001 -0.3 -0.165"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet03/IAIDoorW60H80.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14" xyz="0.001 -0.3 -0.165"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet03/IAIDoorW60H80.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab3_door_bottom_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.036 -0.45 0.1"/>
    <parent link="cabinet3_door_bottom_left"/>
    <child link="handle_cab3_door_bottom"/>
  </joint>
  <link name="handle_cab3_door_bottom">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- Cabinet4 -->
  <joint name="cabinet4_joint" type="fixed">
    <origin xyz="-0.175 1.825 1.72"/>
    <parent link="side_A"/>
    <child link="cabinet4"/>
  </joint>
  <link name="cabinet4">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet04/IAIKitchenCabinet4W100.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet04/IAIKitchenCabinet4W100.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet4_door_top_top_joint" type="revolute">
    <origin rpy="0 0 3.14" xyz="0.07 0 0.42"/>
    <parent link="cabinet4"/>
    <child link="cabinet4_door_top"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000.0" lower="0" upper="2.0" velocity="1.5708"/>
  </joint>
  <link name="cabinet4_door_top">
    <visual>
      <origin rpy="0 0 3.14" xyz="0.0 0.0 -0.2"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet04/IAIDoor1W100H40.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14" xyz="0.0 0.0 -0.2"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet04/IAIDoor1W100H40.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet4_door_bottom_bottom_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.0 0.0 -0.4"/>
    <parent link="cabinet4_door_top"/>
    <child link="cabinet4_door_bottom"/>
    <axis xyz="0 -1 0"/>
    <limit effort="1000.0" lower="0.0" upper="1.5708" velocity="1.5708"/>
    <mimic joint="cabinet4_door_top_top_joint" multiplier="1.2"/>
  </joint>
  <link name="cabinet4_door_bottom">
    <visual>
      <origin rpy="0 0 3.14" xyz="-0.014 0.0 -0.2"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet04/IAIDoor2W100H40.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14" xyz="-.014 0.0 -0.2"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet04/IAIDoor2W100H40.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab4_door_bottom_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.055 0 -0.35"/>
    <parent link="cabinet4_door_bottom"/>
    <child link="handle_cab4_door_bottom"/>
  </joint>
  <link name="handle_cab4_door_bottom">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- Cabinet5 -->
  <joint name="cabinet5_joint" type="fixed">
    <origin xyz="-0.121 1.625 0.4"/>
    <parent link="side_A"/>
    <child link="cabinet5"/>
  </joint>
  <link name="cabinet5">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenCabinet5W60.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenCabinet5W60.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet5_drawer_top_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.03 0.0 0.327"/>
    <parent link="cabinet5"/>
    <child link="cabinet5_drawer_top"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet5_drawer_top">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenDrawerW60H13.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenDrawerW60H13.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab5_top_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.245 0 0.05"/>
    <parent link="cabinet5_drawer_top"/>
    <child link="handle_cab5_t"/>
  </joint>
  <link name="handle_cab5_t">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet5_drawer_middle_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.027 0.0 0.107"/>
    <parent link="cabinet5"/>
    <child link="cabinet5_drawer_middle"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet5_drawer_middle">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenDrawerW60H26.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenDrawerW60H26.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab5_mid_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.245 0 0.13"/>
    <parent link="cabinet5_drawer_middle"/>
    <child link="handle_cab5_m"/>
  </joint>
  <link name="handle_cab5_m">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet5_drawer_bottom_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.037 0.0 -0.28"/>
    <parent link="cabinet5"/>
    <child link="cabinet5_drawer_bottom"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet5_drawer_bottom">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenDrawerW60H40.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenDrawerW60H40.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab5_bott_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.235 0 0.245"/>
    <parent link="cabinet5_drawer_bottom"/>
    <child link="handle_cab5_b"/>
  </joint>
  <link name="handle_cab5_b">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- Cabinet6 -->
  <joint name="cabinet6_joint" type="fixed">
    <origin xyz="-0.121 2.127 0.4"/>
    <parent link="side_A"/>
    <child link="cabinet6"/>
  </joint>
  <link name="cabinet6">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenCabinet6W40.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenCabinet6W40.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet6_drawer_top_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.033 -0.0125 0.328"/>
    <parent link="cabinet6"/>
    <child link="cabinet6_drawer_top"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet6_drawer_top">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenDrawerW40H13.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenDrawerW40H13.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab6_top_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.238 0 0.05"/>
    <parent link="cabinet6_drawer_top"/>
    <child link="handle_cab6_t"/>
  </joint>
  <link name="handle_cab6_t">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet6_drawer_middle_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.03 0.0 0.105"/>
    <parent link="cabinet6"/>
    <child link="cabinet6_drawer_middle"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet6_drawer_middle">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenDrawerW40H26.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenDrawerW40H26.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab6_mid_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.245 0 0.13"/>
    <parent link="cabinet6_drawer_middle"/>
    <child link="handle_cab6_m"/>
  </joint>
  <link name="handle_cab6_m">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet6_drawer_bottom_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.047 0.0 -0.28"/>
    <parent link="cabinet6"/>
    <child link="cabinet6_drawer_bottom"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet6_drawer_bottom">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenDrawerW40H40.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenDrawerW40H40.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab6_bott_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.227 0 0.245"/>
    <parent link="cabinet6_drawer_bottom"/>
    <child link="handle_cab6_b"/>
  </joint>
  <link name="handle_cab6_b">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- - - - - - - - - - - - - - - Cabinets side B - - - - - - - - - - - - - - -->
  <!-- Dishwasher: Cabinet 7 -->
  <joint name="cabinet7_joint" type="fixed">
    <origin xyz="0.2 0.501 0.47"/>
    <parent link="side_B"/>
    <child link="cabinet7"/>
  </joint>
  <link name="cabinet7">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet07/IAIKitchenCabinet7W60.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet07/IAIKitchenCabinet7W60.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet7_door_bottom_left_joint" type="revolute">
    <origin rpy="0 0 3.14" xyz="0.372 0 -0.45"/>
    <parent link="cabinet7"/>
    <child link="cabinet7_door_bottom_left"/>
    <axis xyz="0 -1 0"/>
    <limit effort="1000.0" lower="0.0" upper="1.5708" velocity="1.5708"/>
  </joint>
  <link name="cabinet7_door_bottom_left">
    <visual>
      <origin xyz="0 0 0.385"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet07/IAIKitchenDoorW60H80.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.385"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet07/IAIKitchenDoorW60H80.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab7_top_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.06 0 0.74"/>
    <parent link="cabinet7_door_bottom_left"/>
    <child link="handle_cab7"/>
  </joint>
  <link name="handle_cab7">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- dishwasher rack -->
  <joint name="dishwasher_drawer_middle_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="-0.065 0.03 0.08"/>
    <parent link="cabinet7"/>
    <child link="dishwasher_drawer_middle"/>
    <axis xyz="-1 0  0"/>
    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="dishwasher_drawer_middle">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet07/dishwasher_drawer_middle.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet07/dishwasher_drawer_middle.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab7_drawer_middle_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.315 0 0.068"/>
    <parent link="dishwasher_drawer_middle"/>
    <child link="handle_cab7_middle"/>
  </joint>
  <link name="handle_cab7_middle">
    <visual>
      <origin rpy="-1.57 0 0"/>
      <geometry>
        <box size="0.015 0.325 0.021"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="-1.57 0 0"/>
      <geometry>
        <box size="0.015 0.325 0.021"/>
      </geometry>
    </collision>
  </link>
  <!-- Cabinet 8 -->
  <joint name="cabinet8_joint" type="fixed">
    <origin xyz="0.256 1.102 0.006"/>
    <parent link="side_B"/>
    <child link="cabinet8"/>
  </joint>
  <link name="cabinet8">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet08/IAIKitchenCabinet8W60_v2.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet08/IAIKitchenCabinet8W60_v2.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet8_drawer_middle_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.05 0.0 0.48"/>
    <parent link="cabinet8"/>
    <child link="cabinet8_drawer_middle"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.40" velocity="0.5"/>
  </joint>
  <link name="cabinet8_drawer_middle">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet08/IAIKitchenDrawerW56H10.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet08/IAIKitchenDrawerW56H10.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet8_drawer_bottom_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.114 0.0 0.105"/>
    <parent link="cabinet8"/>
    <child link="cabinet8_drawer_bottom"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet8_drawer_bottom">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet08/IAIKitchenDrawerW60H80.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet08/IAIKitchenDrawerW60H80.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab8_top_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.238 0 0.65"/>
    <parent link="cabinet8_drawer_bottom"/>
    <child link="handle_cab8"/>
  </joint>
  <link name="handle_cab8">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- Cabinet9 -->
  <joint name="cabinet9_joint" type="fixed">
    <origin xyz="0.333 1.703 0.394"/>
    <parent link="side_B"/>
    <child link="cabinet9"/>
  </joint>
  <link name="cabinet9">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenCabinet9W60.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenCabinet9W60.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet9_drawer_top_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.03 0.0 0.327"/>
    <parent link="cabinet9"/>
    <child link="cabinet9_drawer_top"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet9_drawer_top">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenDrawerW60H13.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenDrawerW60H13.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab9_top_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.245 0 0.05"/>
    <parent link="cabinet9_drawer_top"/>
    <child link="handle_cab9_t"/>
  </joint>
  <link name="handle_cab9_t">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet9_drawer_middle_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.027 0.0 0.106"/>
    <parent link="cabinet9"/>
    <child link="cabinet9_drawer_middle"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet9_drawer_middle">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenDrawerW60H26.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenDrawerW60H26.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab9_mid_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.245 0 0.13"/>
    <parent link="cabinet9_drawer_middle"/>
    <child link="handle_cab9_m"/>
  </joint>
  <link name="handle_cab9_m">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet9_drawer_bottom_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.036 0.0 -0.281"/>
    <parent link="cabinet9"/>
    <child link="cabinet9_drawer_bottom"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet9_drawer_bottom">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenDrawerW60H40.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenDrawerW60H40.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab9_bott_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.24 0 0.245"/>
    <parent link="cabinet9_drawer_bottom"/>
    <child link="handle_cab9_b"/>
  </joint>
  <link name="handle_cab9_b">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- Cabinet 10 -->
  <joint name="cabinet10_joint" type="fixed">
    <origin xyz="0.333 2.204 0.394"/>
    <parent link="side_B"/>
    <child link="cabinet10"/>
  </joint>
  <link name="cabinet10">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenCabinet9W40.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenCabinet9W40.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet10_drawer_top_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.033 0.0 0.326"/>
    <parent link="cabinet10"/>
    <child link="cabinet10_drawer_top"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet10_drawer_top">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenDrawerW40H13.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenDrawerW40H13.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab10_top_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.243 0 0.05"/>
    <parent link="cabinet10_drawer_top"/>
    <child link="handle_cab10_t"/>
  </joint>
  <link name="handle_cab10_t">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet10_drawer_middle_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.031 0.0 0.104"/>
    <parent link="cabinet10"/>
    <child link="cabinet10_drawer_middle"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet10_drawer_middle">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenDrawerW40H26.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenDrawerW40H26.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab10_mid_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.245 0 0.13"/>
    <parent link="cabinet10_drawer_middle"/>
    <child link="handle_cab10_m"/>
  </joint>
  <link name="handle_cab10_m">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet10_drawer_bottom_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.03 0.0 -0.279"/>
    <parent link="cabinet10"/>
    <child link="cabinet10_drawer_bottom"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet10_drawer_bottom">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenDrawerW40H40.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenDrawerW40H40.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab10_bott_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.245 0 0.245"/>
    <parent link="cabinet10_drawer_bottom"/>
    <child link="handle_cab10_b"/>
  </joint>
  <link name="handle_cab10_b">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- Cabinet 11 -->
  <joint name="cabinet11_joint" type="fixed">
    <origin xyz="0.333 2.855 0.394"/>
    <parent link="side_B"/>
    <child link="cabinet11"/>
  </joint>
  <link name="cabinet11">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenCabinet11W90.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenCabinet11W90.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet11_drawer_top_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.03 0.0 0.326"/>
    <parent link="cabinet11"/>
    <child link="cabinet11_drawer_top"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet11_drawer_top">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenDrawerW90H13.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenDrawerW90H13.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab11_top_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.243 0 0.05"/>
    <parent link="cabinet11_drawer_top"/>
    <child link="handle_cab11_t"/>
  </joint>
  <link name="handle_cab11_t">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet11_drawer_middle_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.027 0.0 0.106"/>
    <parent link="cabinet11"/>
    <child link="cabinet11_drawer_middle"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet11_drawer_middle">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenDrawerW90H26.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenDrawerW90H26.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab11_mid_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.245 0 0.13"/>
    <parent link="cabinet11_drawer_middle"/>
    <child link="handle_cab11_m"/>
  </joint>
  <link name="handle_cab11_m">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="cabinet11_drawer_bottom_joint" type="prismatic">
    <origin rpy="0 0 3.14" xyz="0.045 0.0 -0.286"/>
    <parent link="cabinet11"/>
    <child link="cabinet11_drawer_bottom"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
  </joint>
  <link name="cabinet11_drawer_bottom">
    <visual>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenDrawerW90H40.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenDrawerW90H40.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="handle_cab11_bott_joint" type="fixed">
    <origin rpy="1.57 0 0" xyz="-0.228 0 0.245"/>
    <parent link="cabinet11_drawer_bottom"/>
    <child link="handle_cab11_b"/>
  </joint>
  <link name="handle_cab11_b">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- Miscellaneous -->
  <!-- Island, Main Countertop -->
  <joint name="island_countertop_joint" type="fixed">
    <origin xyz="0.13 1.786 0.807"/>
    <parent link="side_B"/>
    <child link="island_countertop"/>
  </joint>
  <link name="island_countertop">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/island/IAIKitchenIslandAreaTop.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/island/IAIKitchenIslandAreaTop.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- Cooktop -->
  <joint name="cooktop_joint" type="fixed">
    <origin xyz="0.130 1.074 0.023"/>
    <parent link="island_countertop"/>
    <child link="cooktop"/>
  </joint>
  <link name="cooktop">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cooktop/IAIKitchenCookTop.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/cooktop/IAIKitchenCookTop.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="hotplate1_joint" type="fixed">
    <origin xyz="0.1069 -0.16199 0.005"/>
    <parent link="cooktop"/>
    <child link="hotplate1"/>
  </joint>
  <link name="hotplate1"/>
  <joint name="hotplate2_joint" type="fixed">
    <origin xyz="0.066902 0.13801 0.0055"/>
    <parent link="cooktop"/>
    <child link="hotplate2"/>
  </joint>
  <link name="hotplate2"/>
  <joint name="hotplate3_joint" type="fixed">
    <origin xyz="-0.155778 0.138013 0.0055"/>
    <parent link="cooktop"/>
    <child link="hotplate3"/>
  </joint>
  <link name="hotplate3"/>
  <joint name="hotplate4_joint" type="fixed">
    <origin xyz="-0.115778 -0.161987 0.005333"/>
    <parent link="cooktop"/>
    <child link="hotplate4"/>
  </joint>
  <link name="hotplate4"/>
  <!-- Sink, Kitchen Sink -->
  <joint name="sink_joint" type="fixed">
    <origin xyz="0.198 -0.698 -0.038"/>
    <parent link="island_countertop"/>
    <child link="sink"/>
  </joint>
  <link name="sink">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/sink/IAIKitchenSink.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/sink/IAIKitchenSink.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- Tap, Water Tap -->
  <joint name="tap_joint" type="revolute">
    <origin xyz="-0.228 -0.003 0.164"/>
    <parent link="sink"/>
    <child link="tap_body"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="-1.5708" upper="1.5708" velocity="1.5708"/>
  </joint>
  <link name="tap_body">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/tap/IAIKitchenWaterTapBody.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5708 0 0"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/tap/IAIKitchenWaterTapBody.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="tap_handle_open_joint" type="revolute">
    <origin xyz="0.001233 0.038489 -0.055395"/>
    <parent link="tap_body"/>
    <child link="tap_handle_open"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000.0" lower="-1.5708" upper="1.5708" velocity="1.5708"/>
  </joint>
  <link name="tap_handle_open"/>
  <joint name="tap_handle_hot_cold_joint" type="revolute">
    <origin rpy="0 0.5 0"/>
    <parent link="tap_handle_open"/>
    <child link="tap_handle"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000.0" lower="-0.5" upper="0" velocity="1.5708"/>
  </joint>
  <link name="tap_handle">
    <visual>
      <origin rpy="0 0.5 0"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/tap/IAIKitchenWaterTapHandle.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5708 0.5 0"/>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/tap/IAIKitchenWaterTapHandle.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- floor socket: A -->
  <joint name="socket_a_joint" type="fixed">
    <origin xyz="0.095 1.02 -0.03"/>
    <parent link="side_A"/>
    <child link="useless_underbar_a"/>
  </joint>
  <link name="useless_underbar_a">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/floor_socket_side_a/IAIKitchenPartSocketW260.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/floor_socket_side_a/IAIKitchenPartSocketW260.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- floor socket: B -->
  <joint name="socket_b_joint" type="fixed">
    <origin xyz="0.552 1.755 -0.045"/>
    <parent link="side_B"/>
    <child link="useless_underbar_b"/>
  </joint>
  <link name="useless_underbar_b">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/floor_socket_side_b/IAIKitchenPartSocketW310.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/floor_socket_side_b/IAIKitchenPartSocketW310.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- Side A countertop -->
  <joint name="countertop_joint" type="fixed">
    <origin xyz="-0.027 0.21 0.423"/>
    <parent link="cabinet5"/>
    <child link="countertop"/>
  </joint>
  <link name="countertop">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/countertop/IAIKitchenPartW102H60.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/countertop/IAIKitchenPartW102H60.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="coffe_machine_joint" type="fixed">
    <origin xyz="0 0.3 0.2"/>
    <parent link="countertop"/>
    <child link="coffe_machine"/>
  </joint>
  <link name="coffe_machine">
    <visual>
      <geometry>
        <box size="0.58 0.33 0.41"/>
      </geometry>
      <material name="oven_gray"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.58 0.32 0.41"/>
      </geometry>
      <material name="oven_gray"/>
    </collision>
  </link>
  <!-- island waterfall, left side -->
  <joint name="island_waterfall_left_joint" type="fixed">
    <origin rpy="1.57 0 1.57" xyz="0.285 0.191 0.354"/>
    <parent link="side_B"/>
    <child link="island_waterfall_left"/>
  </joint>
  <link name="island_waterfall_left">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartIslandUnderSideW90H60/IAIKitchenVisiblePartIslandUnderSideW90H60.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartIslandUnderSideW90H60/IAIKitchenVisiblePartIslandUnderSideW90H60.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- island waterfall, right side -->
  <joint name="island_waterfall_right_joint" type="fixed">
    <origin rpy="1.57 0 1.57" xyz="0.285 3.315 0.354"/>
    <parent link="side_B"/>
    <child link="island_waterfall_right"/>
  </joint>
  <link name="island_waterfall_right">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartIslandUnderSideW90H60/IAIKitchenVisiblePartIslandUnderSideW90H60.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartIslandUnderSideW90H60/IAIKitchenVisiblePartIslandUnderSideW90H60.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- island, back panel -->
  <joint name="island_back_joint" type="fixed">
    <origin rpy="0 1.57 0" xyz="-0.026 1.754 0.353"/>
    <parent link="side_B"/>
    <child link="island_back"/>
  </joint>
  <link name="island_back">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/IAIKitchenPartW314H90/IAIKitchenPartW314H90.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/IAIKitchenPartW314H90/IAIKitchenPartW314H90.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- side A left panel -->
  <joint name="side_A_left_joint" type="fixed">
    <origin rpy="0 0 1.57" xyz="-0.16 -0.296 1.030"/>
    <parent link="side_A"/>
    <child link="side_A_left"/>
  </joint>
  <link name="side_A_left">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/IAIKitchenPartW58H223/IAIKitchenPartW58H223.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/IAIKitchenPartW58H223/IAIKitchenPartW58H223.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- side A right panel up -->
  <joint name="side_A_right_top_joint" type="fixed">
    <origin rpy="0 0 1.57" xyz="-0.262 2.336 1.74"/>
    <parent link="side_A"/>
    <child link="side_A_rt"/>
  </joint>
  <link name="side_A_rt">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartUppersideW80H39/IAIKitchenVisiblePartUppersideW80H39.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartUppersideW80H39/IAIKitchenVisiblePartUppersideW80H39.obj"/>
      </geometry>
    </collision>
  </link>
  <!-- side A right panel bottom -->
  <joint name="side_A_right_bott_joint" type="fixed">
    <origin rpy="1.57 0 1.57" xyz="-0.159 2.338 0.361"/>
    <parent link="side_A"/>
    <child link="side_A_rb"/>
  </joint>
  <link name="side_A_rb">
    <visual>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartUnderSideW90H58/IAIKitchenVisiblePartUnderSideW90H58.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartUnderSideW90H58/IAIKitchenVisiblePartUnderSideW90H58.obj"/>
      </geometry>
    </collision>
  </link>

  <!-- Study scenario -->
  <link name="cup">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/cup.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>
    <link name="SM_BigBowl">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/SM_BigBowl.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>

    <link name="particle1">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle2">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle3">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle4">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle5">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle6">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle7">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle8">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle9">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle10">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle11">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle12">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle13">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle14">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle15">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle16">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle17">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle18">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle19">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle20">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>

    <link name="particle21">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle22">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle23">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle24">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle25">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle26">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle27">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle28">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle29">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle30">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle31">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle32">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle33">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle34">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle35">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle36">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle37">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle38">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle39">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>
    <link name="particle40">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/particle.dae" scale="1 1 1" />
            </geometry>
        </visual>
    </link>

   
    <link name="SM_MilkPitcher">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/SM_MilkPitcher.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>
    <link name="Pot">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/SM_Pot.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>

    <link name="SM_BlueCylinderCup">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/jeroen_cup.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>

 
    <link name="BreadKnife">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/Knife.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>
    
    <link name="Bread">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/Bread.dae" scale="0.5 0.5 0.5"/>
            </geometry>
        </visual>
    </link>
    <link name="BreadPlate1">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/BreadPlate.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>
    <link name="BreadPlate2">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/BreadPlate.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>

    <link name="Sponge">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/Sponge.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>
    <link name="DirtySurface">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/DirtySurface.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>

    <link name="Shaker">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/Shaker.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>

    <link name="DessertFork">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/DessertFork.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>

    <link name="DessertSpoon">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/DessertSpoon.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>

    <link name="ShortGlass1">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/ShortGlass.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>

    <link name="ShortGlass2">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/ShortGlass.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>

    <link name="TableKnife">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/TableKnife.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>


    <joint name="Shaker_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="Shaker"/>
    </joint>
    
    <joint name="DessertFork_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="DessertFork"/>
    </joint>

    <joint name="DessertSpoon_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="DessertSpoon"/>
    </joint>

    <joint name="ShortGlass1_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="ShortGlass1"/>
    </joint>

    <joint name="ShortGlass2_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="ShortGlass2"/>
    </joint> 

    <joint name="TableKnife_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="TableKnife"/>
    </joint> 

    <joint name="BreadKnife_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="BreadKnife"/>
    </joint> 

    <joint name="Bread_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="Bread"/>
    </joint> 
    <joint name="BreadPlate1_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="BreadPlate1"/>
    </joint> 
    <joint name="BreadPlate2_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="BreadPlate2"/>
    </joint> 

    <joint name="Sponge_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="Sponge"/>
    </joint> 

    <joint name="DirtySurface_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="DirtySurface"/>
    </joint> 
 

    <joint name="SM_BlueCylinderCup_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="SM_BlueCylinderCup"/>
    </joint> 
    <joint name="SM_MilkPitcher_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="SM_MilkPitcher"/>
    </joint>

    <joint name="Pot_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="Pot"/>
    </joint> 
    

    <joint name="cup_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="cup"/>
    </joint>

    <joint name="SM_BigBowl_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="SM_BigBowl"/>
    </joint>

    <joint name="particle1_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle1"/>
    </joint>

    <joint name="particle2_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle2"/>
    </joint>
    <joint name="particle3_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle3"/>
    </joint>
    <joint name="particle4_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle4"/>
    </joint>
    <joint name="particle5_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle5"/>
    </joint>
    <joint name="particle6_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle6"/>
    </joint>
    <joint name="particle7_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle7"/>
    </joint>
    <joint name="particle8_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle8"/>
    </joint>
    <joint name="particle9_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle9"/>
    </joint>
    <joint name="particle10_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle10"/>
    </joint>

    <joint name="particle11_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle11"/>
    </joint>

    <joint name="particle12_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle12"/>
    </joint>

    <joint name="particle13_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle13"/>
    </joint>


    <joint name="particle14_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle14"/>
    </joint>

    <joint name="particle15_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle15"/>
    </joint>


    <joint name="particle16_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle16"/>
    </joint>

    <joint name="particle17_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle17"/>
    </joint>

    <joint name="particle18_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle18"/>
    </joint>

    <joint name="particle19_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle19"/>
    </joint>

    <joint name="particle20_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle20"/>
    </joint>

    <joint name="particle21_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle21"/>
    </joint>
    <joint name="particle22_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle22"/>
    </joint>
    <joint name="particle23_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle23"/>
    </joint>
    <joint name="particle24_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle24"/>
    </joint>
    <joint name="particle25_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle25"/>
    </joint>
    <joint name="particle26_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle26"/>
    </joint>
    <joint name="particle27_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle27"/>
    </joint>
    <joint name="particle28_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle28"/>
    </joint>
    <joint name="particle29_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle29"/>
    </joint>
    <joint name="particle30_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle30"/>
    </joint>
    <joint name="particle31_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle31"/>
    </joint>
    <joint name="particle32_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle32"/>
    </joint>
    <joint name="particle33_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle33"/>
    </joint>
    <joint name="particle34_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle34"/>
    </joint>
    <joint name="particle35_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle35"/>
    </joint>
    <joint name="particle36_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle36"/>
    </joint>
    <joint name="particle37_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle37"/>
    </joint>
    <joint name="particle38_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle38"/>
    </joint>
    <joint name="particle39_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle39"/>
    </joint>
    <joint name="particle40_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="apartment_root"/>
        <child link="particle40"/>
    </joint>

  <!-- Pouring Agent Info -->  
  <link name="NaturalPerson">
      <origin rpy="0 0 0" xyz="0 0 0"/> 
  </link>

  <joint name="NaturalPerson_joint" type="fixed">
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <parent link="apartment_root"/>
      <child link="NaturalPerson"/>
  </joint>

  <link name="RightHand">
        <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/RightHand.dae" scale="1 1 1"/>
            </geometry>
        </visual>
  </link>

  <link name="ManusRightHand">
        <visual>
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/RightHand.dae" scale="1 1 1"/>
            </geometry>
        </visual>
  </link>

  <joint name="RightHand_joint" type="fixed">
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <parent link="NaturalPerson"/>
      <child link="RightHand"/>
  </joint>
  <joint name="ManusRightHand_joint" type="fixed">
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <parent link="NaturalPerson"/>
      <child link="ManusRightHand"/>
  </joint>

  <link name="LeftHand">
      <visual>
        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/LeftHand.dae" scale="1 1 1"/>
            </geometry>
        </visual>
  </link>
  <link name="ManusLeftHand">
      <visual>
        <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/dae/LeftHand.dae" scale="1 1 1"/>
            </geometry>
        </visual>
  </link>

  <joint name="ManusLeftHand_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="NaturalPerson"/>
        <child link="ManusLeftHand"/>
  </joint>
  
  <joint name="LeftHand_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="NaturalPerson"/>
        <child link="LeftHand"/>
  </joint>

  <link name="Head">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://bielefeld_study_neem/meshes/obj/Head.obj" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>

  <joint name="Head_joint" type="fixed">
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <parent link="NaturalPerson"/>
      <child link="Head"/>
  </joint>  
</robot>

