<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from IAI_kitchen.urdf.xacro         | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="iai_oven_area" xmlns:xacro="http://ros.org/wiki/xacro">
  <link name="room_link">    
  </link>
  <!--- FIXME THIS should NOT be here -->
  <link name="sink_area_footprint">
    <sphere_inertia mass="0" radius="0"/>
  </link>
  <link name="sink_area">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="sink_area_footprint_joint" type="fixed">
    <origin rpy="0 0 3.14159265359" xyz="1.825 1.3 0"/>
    <child link="sink_area_footprint"/>
    <parent link="room_link"/>
  </joint>
  <joint name="sink_area_main_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.29 1.03 0.41"/>
    <parent link="sink_area_footprint"/>
    <child link="sink_area"/>
  </joint>
  <link name="sink_area_sink">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/Sink.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="sink_area_sink_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.005 0.47 0.4414"/>
    <parent link="sink_area"/>
    <child link="sink_area_sink"/>
  </joint>
  <link name="sink_area_right_panel">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="sink_area_right_panel_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.28 0.7 0.325 "/>
    <parent link="sink_area"/>
    <child link="sink_area_right_panel"/>
  </joint>
  <link name="sink_area_trash_drawer_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="sink_area_trash_drawer_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="sink_area_trash_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.01 0.7 -0.035 "/>
    <parent link="sink_area"/>
    <child link="sink_area_trash_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
  </joint>
  <joint name="sink_area_trash_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3325 0 0.2375"/>
    <parent link="sink_area_trash_drawer_main"/>
    <child link="sink_area_trash_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="sink_area_left_upper_drawer_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_14.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="sink_area_left_upper_drawer_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="sink_area_left_upper_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.01 -0.6 0.325 "/>
    <parent link="sink_area"/>
    <child link="sink_area_left_upper_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
  </joint>
  <joint name="sink_area_left_upper_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3325 0 0.0175"/>
    <parent link="sink_area_left_upper_drawer_main"/>
    <child link="sink_area_left_upper_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="sink_area_left_middle_drawer_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="sink_area_left_middle_drawer_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="sink_area_left_middle_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.01 -0.6 0.11 "/>
    <parent link="sink_area"/>
    <child link="sink_area_left_middle_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
  </joint>
  <joint name="sink_area_left_middle_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
    <parent link="sink_area_left_middle_drawer_main"/>
    <child link="sink_area_left_middle_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="sink_area_left_bottom_drawer_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="sink_area_left_bottom_drawer_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="sink_area_left_bottom_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.01 -0.6 -0.18 "/>
    <parent link="sink_area"/>
    <child link="sink_area_left_bottom_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
  </joint>
  <joint name="sink_area_left_bottom_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
    <parent link="sink_area_left_bottom_drawer_main"/>
    <child link="sink_area_left_bottom_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="sink_area_dish_washer_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="sink_area_dish_washer_door">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="sink_area_dish_washer_door_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="sink_area_dish_washer_main_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.01 0.1 0.035 "/>
    <parent link="sink_area"/>
    <child link="sink_area_dish_washer_main"/>
  </joint>
  <joint name="sink_area_dish_washer_door_joint" type="revolute">
    <origin rpy="-1.57079632679 0 0" xyz="0.27 0. -0.325"/>
    <parent link="sink_area_dish_washer_main"/>
    <child link="sink_area_dish_washer_door"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <joint name="sink_area_dish_washer_door_handle_joint" type="fixed">
    <origin rpy="-1.57079632679 0 0" xyz="0.0625 -0.6325 0."/>
    <parent link="sink_area_dish_washer_door"/>
    <child link="sink_area_dish_washer_door_handle"/>
  </joint>
  <link name="oven_area_area_footprint">
    <sphere_inertia mass="0" radius="0"/>
  </link>
  <link name="oven_area_area">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="oven_area_footprint_joint" type="fixed">
    <origin rpy="0 0 3.14159265359" xyz="1.805 2.5 0"/>
    <child link="oven_area_area_footprint"/>
    <parent link="room_link"/>
  </joint>
  <joint name="oven_area_main_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.29 0.6 0.755"/>
    <parent link="oven_area_area_footprint"/>
    <child link="oven_area_area"/>
  </joint>
  <link name="oven_area_oven_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="oven_area_oven_door">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/OvenDoor.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="oven_area_oven_door_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="oven_area_oven_panel">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/OvenPanel.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="oven_area_oven_main_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 0.415"/>
    <parent link="oven_area_area"/>
    <child link="oven_area_oven_main"/>
  </joint>
  <joint name="oven_area_oven_door_joint" type="revolute">
    <origin rpy="-1.57079632679 0 0" xyz="0.2737 0. -0.2614"/>
    <parent link="oven_area_oven_main"/>
    <child link="oven_area_oven_door"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <joint name="oven_area_oven_door_handle_joint" type="fixed">
    <origin rpy="-1.57079632679 0 0" xyz="0.05876 -0.39803 0."/>
    <parent link="oven_area_oven_door"/>
    <child link="oven_area_oven_door_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <joint name="oven_area_oven_panel_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.27 0 0.2449"/>
    <parent link="oven_area_oven_main"/>
    <child link="oven_area_oven_panel"/>
  </joint>
  <link name="oven_area_oven_knob_stove_1">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="oven_area_oven_knob_stove_1_joint" type="revolute">
    <origin rpy="0 -1.57079632679 0" xyz="0 -0.21 0"/>
    <parent link="oven_area_oven_panel"/>
    <child link="oven_area_oven_knob_stove_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
  </joint>
  <link name="oven_area_oven_knob_stove_2">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="oven_area_oven_knob_stove_2_joint" type="revolute">
    <origin rpy="0 -1.57079632679 0" xyz="0 -0.14 0"/>
    <parent link="oven_area_oven_panel"/>
    <child link="oven_area_oven_knob_stove_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
  </joint>
  <link name="oven_area_oven_knob_stove_3">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="oven_area_oven_knob_stove_3_joint" type="revolute">
    <origin rpy="0 -1.57079632679 0" xyz="0 -0.07 0"/>
    <parent link="oven_area_oven_panel"/>
    <child link="oven_area_oven_knob_stove_3"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
  </joint>
  <link name="oven_area_oven_knob_stove_4">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="oven_area_oven_knob_stove_4_joint" type="revolute">
    <origin rpy="0 -1.57079632679 0" xyz="0 -0.0 0"/>
    <parent link="oven_area_oven_panel"/>
    <child link="oven_area_oven_knob_stove_4"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
  </joint>
  <link name="oven_area_oven_knob_oven">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="oven_area_oven_knob_oven_joint" type="revolute">
    <origin rpy="0 -1.57079632679 0" xyz="0 0.16 0"/>
    <parent link="oven_area_oven_panel"/>
    <child link="oven_area_oven_knob_oven"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
  </joint>
  <link name="oven_area_area_middle_upper_drawer_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_14.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="oven_area_area_middle_upper_drawer_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="oven_area_area_middle_upper_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0 -0. 0.045 "/>
    <parent link="oven_area_area"/>
    <child link="oven_area_area_middle_upper_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
  </joint>
  <joint name="oven_area_area_middle_upper_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3325 0 0.0175"/>
    <parent link="oven_area_area_middle_upper_drawer_main"/>
    <child link="oven_area_area_middle_upper_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="oven_area_area_middle_lower_drawer_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="oven_area_area_middle_lower_drawer_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="oven_area_area_middle_lower_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0 -0. -0.315 "/>
    <parent link="oven_area_area"/>
    <child link="oven_area_area_middle_lower_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
  </joint>
  <joint name="oven_area_area_middle_lower_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3325 0 0.2375"/>
    <parent link="oven_area_area_middle_lower_drawer_main"/>
    <child link="oven_area_area_middle_lower_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="oven_area_area_left_drawer_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="oven_area_area_left_drawer_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="oven_area_area_left_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0 -0.45 0.06 "/>
    <parent link="oven_area_area"/>
    <child link="oven_area_area_left_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
  </joint>
  <joint name="oven_area_area_left_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3525 0 0"/>
    <parent link="oven_area_area_left_drawer_main"/>
    <child link="oven_area_area_left_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="oven_area_area_right_drawer_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="oven_area_area_right_drawer_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="oven_area_area_right_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0 0.45 0.06 "/>
    <parent link="oven_area_area"/>
    <child link="oven_area_area_right_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
  </joint>
  <joint name="oven_area_area_right_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3525 0 0"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="oven_area_area_right_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="kitchen_island_footprint">
    <sphere_inertia mass="0" radius="0"/>
  </link>
  <link name="kitchen_island">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/racks/IslandArea.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="kitchen_island_footprint_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-1.365 0.59 0"/>
    <child link="kitchen_island_footprint"/>
    <parent link="room_link"/>
  </joint>
  <joint name="kitchen_island_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.2975 1.1292 0.421"/>
    <parent link="kitchen_island_footprint"/>
    <child link="kitchen_island"/>
  </joint>
  <link name="kitchen_island_stove">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/Stove.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="kitchen_island_stove_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.025 0.7658 0.4315"/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_stove"/>
  </joint>
  <link name="kitchen_island_left_panel">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="kitchen_island_left_panel_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.2725 -0.8 0.329 "/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_left_panel"/>
  </joint>
  <link name="kitchen_island_left_upper_drawer_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="kitchen_island_left_upper_drawer_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="kitchen_island_left_upper_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0025 -0.8 0.114 "/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_left_upper_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
  </joint>
  <joint name="kitchen_island_left_upper_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
    <parent link="kitchen_island_left_upper_drawer_main"/>
    <child link="kitchen_island_left_upper_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="kitchen_island_left_lower_drawer_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="kitchen_island_left_lower_drawer_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="kitchen_island_left_lower_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0025 -0.8 -0.176 "/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_left_lower_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
  </joint>
  <joint name="kitchen_island_left_lower_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
    <parent link="kitchen_island_left_lower_drawer_main"/>
    <child link="kitchen_island_left_lower_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="kitchen_island_middle_panel">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_100.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="kitchen_island_middle_panel_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.2725 0 0.329 "/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_middle_panel"/>
  </joint>
  <link name="kitchen_island_middle_upper_drawer_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="kitchen_island_middle_upper_drawer_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="kitchen_island_middle_upper_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0025 0 0.114 "/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_middle_upper_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
  </joint>
  <joint name="kitchen_island_middle_upper_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
    <parent link="kitchen_island_middle_upper_drawer_main"/>
    <child link="kitchen_island_middle_upper_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="kitchen_island_middle_lower_drawer_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="kitchen_island_middle_lower_drawer_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="kitchen_island_middle_lower_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0025 0 -0.176 "/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_middle_lower_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
  </joint>
  <joint name="kitchen_island_middle_lower_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
    <parent link="kitchen_island_middle_lower_drawer_main"/>
    <child link="kitchen_island_middle_lower_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="kitchen_island_right_panel">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="kitchen_island_right_panel_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.2725 0.8 0.329 "/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_right_panel"/>
  </joint>
  <link name="kitchen_island_right_upper_drawer_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="kitchen_island_right_upper_drawer_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="kitchen_island_right_upper_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0025 0.8 0.114 "/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_right_upper_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
  </joint>
  <joint name="kitchen_island_right_upper_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
    <parent link="kitchen_island_right_upper_drawer_main"/>
    <child link="kitchen_island_right_upper_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="kitchen_island_right_lower_drawer_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="kitchen_island_right_lower_drawer_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="kitchen_island_right_lower_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0025 0.8 -0.176 "/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_right_lower_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
  </joint>
  <joint name="kitchen_island_right_lower_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
    <parent link="kitchen_island_right_lower_drawer_main"/>
    <child link="kitchen_island_right_lower_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="fridge_area_footprint">
    <sphere_inertia mass="0" radius="0"/>
  </link>
  <link name="fridge_area">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="fridge_area_footprint_joint" type="fixed">
    <origin rpy="0 0 3.14159265359" xyz="1.825 -0.76 0"/>
    <child link="fridge_area_footprint"/>
    <parent link="room_link"/>
  </joint>
  <joint name="fridge_area_main_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.29 .3 0.74"/>
    <parent link="fridge_area_footprint"/>
    <child link="fridge_area"/>
  </joint>
  <link name="fridge_area_lower_drawer_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="fridge_area_lower_drawer_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="fridge_area_lower_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0 -0.0 -0.4175 "/>
    <parent link="fridge_area"/>
    <child link="fridge_area_lower_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
  </joint>
  <joint name="fridge_area_lower_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
    <parent link="fridge_area_lower_drawer_main"/>
    <child link="fridge_area_lower_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="iai_fridge_main">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/Fridge.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="iai_fridge_door">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.dae"/>
      </geometry>
    </visual>
  </link>
  <link name="iai_fridge_door_handle">
    <sphere_inertia mass="0" radius="0"/>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.dae"/>
      </geometry>
    </visual>
  </link>
  <joint name="iai_fridge_main_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="fridge_area"/>
    <child link="iai_fridge_main"/>
  </joint>
  <joint name="iai_fridge_door_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.29 0.3 0.245"/>
    <parent link="iai_fridge_main"/>
    <child link="iai_fridge_door"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <joint name="iai_fridge_door_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.06 -0.57 0."/>
    <parent link="iai_fridge_door"/>
    <child link="iai_fridge_door_handle"/>
  </joint>
  <!--
  <iai_sink_area name="sink_area" parent="room_link">
    <origin xyz="-5.29 -5.65 0" rpy="0 0 0" />    
  </iai_sink_area>
  
  <iai_oven_area name="oven_area" parent="room_link">
    <origin xyz="-5.27 -6.85 0" rpy="0 0 0" />    
  </iai_oven_area>
  
  
  <iai_kitchen_island name="kitchen_island" parent="room_link">
    <origin xyz="-2.1 -4.94 0" rpy="0 0 ${pi}" />    
  </iai_kitchen_island>
  
  <iai_fridge_area name="fridge_area" parent="room_link">
    <origin xyz="-5.29 -3.59 0" rpy="0 0 0" />    
  </iai_fridge_area>
  -->
</robot>
