<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from iai_kitchen_python.urdf.xacro  | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="iai_kitchen" xmlns:xacro="http://ros.org/wiki/xacro">
  <!--- FIXME THIS should NOT be here -->
  <!--
      <link name="map">
      
      <sphere_inertia radius="0" mass="0"/>
      </link>
      <iai_drawer_60_14 name="drawer_1" parent="map">
      <origin rpy="0 0 0" xyz="0 0 1"/>
      </iai_drawer_60_14>
      
      <iai_drawer_80_14 name="drawer_2" parent="map">
      <origin rpy="0 0 0" xyz="0 0 2"/>
      </iai_drawer_80_14>
      
      <iai_drawer_60_29 name="drawer_3" parent="map">
      <origin rpy="0 0 0" xyz="0 0 3"/>
      </iai_drawer_60_29>
      
      <iai_drawer_80_29 name="drawer_4" parent="map">
      <origin rpy="0 0 0" xyz="0 0 4"/>
      </iai_drawer_80_29>
      
      <iai_drawer_100_29 name="drawer_5" parent="map">
      <origin rpy="0 0 0" xyz="0 0 5"/>
      </iai_drawer_100_29>
  -->
  <!--- FIXME THIS should NOT be here -->
  <!--
  <link name="oven_footprint">
    
    <sphere_inertia radius="0" mass="0"/>
  </link>
  <iai_oven name="iai_oven" parent="oven_footprint"/>
  -->
  <!--- FIXME THIS should NOT be here -->
  <!--
      <link name="map">
      
      <sphere_inertia radius="0" mass="0"/>
      </link>
      <iai_drawer_60_14 name="drawer_1" parent="map">
      <origin rpy="0 0 0" xyz="0 0 1"/>
      </iai_drawer_60_14>
      
      <iai_drawer_80_14 name="drawer_2" parent="map">
      <origin rpy="0 0 0" xyz="0 0 2"/>
      </iai_drawer_80_14>
      
      <iai_drawer_60_29 name="drawer_3" parent="map">
      <origin rpy="0 0 0" xyz="0 0 3"/>
      </iai_drawer_60_29>
      
      <iai_drawer_80_29 name="drawer_4" parent="map">
      <origin rpy="0 0 0" xyz="0 0 4"/>
      </iai_drawer_80_29>
      
      <iai_drawer_100_29 name="drawer_5" parent="map">
      <origin rpy="0 0 0" xyz="0 0 5"/>
      </iai_drawer_100_29>
  -->
  <!--- FIXME THIS should NOT be here -->
  <!--
      <link name="map">
      
      <sphere_inertia radius="0" mass="0"/>
      </link>
      <iai_drawer_60_14 name="drawer_1" parent="map">
      <origin rpy="0 0 0" xyz="0 0 1"/>
      </iai_drawer_60_14>
      
      <iai_drawer_80_14 name="drawer_2" parent="map">
      <origin rpy="0 0 0" xyz="0 0 2"/>
      </iai_drawer_80_14>
      
      <iai_drawer_60_29 name="drawer_3" parent="map">
      <origin rpy="0 0 0" xyz="0 0 3"/>
      </iai_drawer_60_29>
      
      <iai_drawer_80_29 name="drawer_4" parent="map">
      <origin rpy="0 0 0" xyz="0 0 4"/>
      </iai_drawer_80_29>
      
      <iai_drawer_100_29 name="drawer_5" parent="map">
      <origin rpy="0 0 0" xyz="0 0 5"/>
      </iai_drawer_100_29>
  -->
  <!--- FIXME THIS should NOT be here -->
  <!--
      <link name="map">
      
      <sphere_inertia radius="0" mass="0"/>
      </link>
      <iai_drawer_60_14 name="drawer_1" parent="map">
      <origin rpy="0 0 0" xyz="0 0 1"/>
      </iai_drawer_60_14>
      
      <iai_drawer_80_14 name="drawer_2" parent="map">
      <origin rpy="0 0 0" xyz="0 0 2"/>
      </iai_drawer_80_14>
      
      <iai_drawer_60_29 name="drawer_3" parent="map">
      <origin rpy="0 0 0" xyz="0 0 3"/>
      </iai_drawer_60_29>
      
      <iai_drawer_80_29 name="drawer_4" parent="map">
      <origin rpy="0 0 0" xyz="0 0 4"/>
      </iai_drawer_80_29>
      
      <iai_drawer_100_29 name="drawer_5" parent="map">
      <origin rpy="0 0 0" xyz="0 0 5"/>
      </iai_drawer_100_29>
  -->
  <link name="room_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
  </link>
  <link name="world"/>
  <joint name="world_room_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.03 0 "/>
    <parent link="world"/>
    <child link="room_link"/>
  </joint>
  <link name="sink_area_footprint">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
  </link>
  <link name="sink_area">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="sink_area_footprint_joint" type="fixed">
    <origin rpy="0 0 3.14159265359" xyz="1.855 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_surface">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.225 0"/>
      <geometry>
        <box size="0.575 1.6 0.02"/>
      </geometry>
    </collision>
  </link>
  <joint name="sink_area_surface_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0. 0.43"/>
    <parent link="sink_area"/>
    <child link="sink_area_surface"/>
  </joint>
  <link name="sink_area_sink">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/Sink.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/Sink.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="sink_area_sink_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.005 0.47 0.4414"/>
    <parent link="sink_area"/>
    <child link="sink_area_sink"/>
  </joint>
  <link name="sink_area_right_panel">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="sink_area_right_panel_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.28 0.7 0.355 "/>
    <parent link="sink_area"/>
    <child link="sink_area_right_panel"/>
  </joint>
  <link name="sink_area_trash_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="sink_area_trash_drawer_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="sink_area_trash_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.01 0.7 -0.015 "/>
    <parent link="sink_area"/>
    <child link="sink_area_trash_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    <!--
          <limit effort="300" lower="0" upper="0" velocity="10"/>
      -->
  </joint>
  <joint name="sink_area_trash_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.37 0 0.25"/>
    <parent link="sink_area_trash_drawer_main"/>
    <child link="sink_area_trash_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="sink_area_left_upper_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_14.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_14.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="sink_area_left_upper_drawer_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="sink_area_left_upper_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.01 -0.6 0.345 "/>
    <parent link="sink_area"/>
    <child link="sink_area_left_upper_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    <!--
          <limit effort="300" lower="0" upper="0" velocity="10"/>
      -->
  </joint>
  <joint name="sink_area_left_upper_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3525 0 0.0175"/>
    <parent link="sink_area_left_upper_drawer_main"/>
    <child link="sink_area_left_upper_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="sink_area_left_middle_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="sink_area_left_middle_drawer_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="sink_area_left_middle_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.01 -0.6 0.12 "/>
    <parent link="sink_area"/>
    <child link="sink_area_left_middle_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    <!--
          <limit effort="300" lower="0" upper="0" velocity="10"/>
      -->
  </joint>
  <joint name="sink_area_left_middle_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
    <parent link="sink_area_left_middle_drawer_main"/>
    <child link="sink_area_left_middle_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="sink_area_left_bottom_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="sink_area_left_bottom_drawer_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="sink_area_left_bottom_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.01 -0.6 -0.18"/>
    <parent link="sink_area"/>
    <child link="sink_area_left_bottom_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    <!--
          <limit effort="300" lower="0" upper="0" velocity="10"/>
      -->
  </joint>
  <joint name="sink_area_left_bottom_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
    <parent link="sink_area_left_bottom_drawer_main"/>
    <child link="sink_area_left_bottom_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="sink_area_dish_washer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="sink_area_dish_washer_door">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 0 0" xyz="0 0.055 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0.055 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="sink_area_dish_washer_door_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </collision>
  </link>
  <!--
    <xacro:if value="simulated"/>
    -->
  <joint name="sink_area_dish_washer_main_joint" type="revolute">
    <limit effort="300" lower="0" upper="0" velocity="10"/>
    <origin rpy="0 0 0" xyz="0.01 0.1 0.06"/>
    <parent link="sink_area"/>
    <child link="sink_area_dish_washer_main"/>
  </joint>
  <!--
    <xacro:if value="${simulated}">
    <joint name="${name}_door_joint" type="revolute">
      <origin xyz="0.27 0. -0.325" rpy="${-0.5*pi} 0 0" />
      <parent link="${name}_main"/>
      <child link="${name}_door"/>
      <axis xyz="0 0 1"/>
       FIXME make closed position stable instead of forbidding opening...
      <limit lower="0" upper="0" effort="300" velocity="10"/>
    </joint>

    </xacro:if>
    -->
  <!--
    <xacro:unless value="${simulated}">
    -->
  <joint name="sink_area_dish_washer_door_joint" type="revolute">
    <origin rpy="-1.57079632679 0 0" xyz="0.27 0. -0.285"/>
    <parent link="sink_area_dish_washer_main"/>
    <child link="sink_area_dish_washer_door"/>
    <axis xyz="0 0 1"/>
    <!--
      <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
      -->
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <!--
    </xacro:unless>
  -->
  <joint name="sink_area_dish_washer_door_handle_joint" type="fixed">
    <origin rpy="-1.57079632679 0 0" xyz="0.09 -0.575 0.0"/>
    <parent link="sink_area_dish_washer_door"/>
    <child link="sink_area_dish_washer_door_handle"/>
  </joint>
  <joint name="sink_area_dish_washer_tray_main" type="prismatic">
    <origin xyz="-0.10 0 0.15"/>
    <parent link="sink_area_dish_washer_main"/>
    <child link="sink_area_dish_washer_tray_bottom"/>
    <axis xyz="1 0 0"/>
    <limit effort="300" lower="0" upper="0.40" velocity="10"/>
  </joint>
  <link name="sink_area_dish_washer_tray_bottom">
    <visual>
      <geometry>
        <box size="0.32 0.5 0.02"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.32 0.5 0.02"/>
      </geometry>
    </collision>
  </link>
  <link name="sink_area_dish_washer_tray_left_side">
    <visual>
      <geometry>
        <box size="0.32 0.005 0.17"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.32 0.005 0.17"/>
      </geometry>
    </collision>
  </link>
  <link name="sink_area_dish_washer_tray_right_side">
    <visual>
      <geometry>
        <box size="0.32 0.005 0.17"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.32 0.005 0.17"/>
      </geometry>
    </collision>
  </link>
  <link name="sink_area_dish_washer_tray_back_side">
    <visual>
      <geometry>
        <box size="0.005 0.5 0.17"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.005 0.5 0.17"/>
      </geometry>
    </collision>
  </link>
  <link name="sink_area_dish_washer_tray_front_side">
    <visual>
      <geometry>
        <box size="0.005 0.5 0.17"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.005 0.5 0.17"/>
      </geometry>
    </collision>
  </link>
  <joint name="sink_area_dish_washer_tray_bottom_left" type="fixed">
    <origin xyz="-0.0 -0.25 0.075"/>
    <child link="sink_area_dish_washer_tray_left_side"/>
    <parent link="sink_area_dish_washer_tray_bottom"/>
  </joint>
  <joint name="sink_area_dish_washer_tray_bottom_right" type="fixed">
    <origin xyz="-0.0 0.25 0.075"/>
    <child link="sink_area_dish_washer_tray_right_side"/>
    <parent link="sink_area_dish_washer_tray_bottom"/>
  </joint>
  <joint name="sink_area_dish_washer_tray_bottom_back" type="fixed">
    <origin xyz="-0.16 0 0.075"/>
    <child link="sink_area_dish_washer_tray_back_side"/>
    <parent link="sink_area_dish_washer_tray_bottom"/>
  </joint>
  <joint name="sink_area_dish_washer_tray_bottom_front" type="fixed">
    <origin xyz="0.16 0 0.075"/>
    <child link="sink_area_dish_washer_tray_front_side"/>
    <parent link="sink_area_dish_washer_tray_bottom"/>
  </joint>
  <joint name="sink_area_dish_washer_tray_handle_joint" type="fixed">
    <origin xyz="0.025 0 -0.05"/>
    <child link="sink_area_dish_washer_tray_handle_front_side"/>
    <parent link="sink_area_dish_washer_tray_front_side"/>
  </joint>
  <link name="sink_area_dish_washer_tray_handle_left_side">
    <visual>
      <geometry>
        <box size="0.03 0.01 0.01"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.03 0.01 0.01"/>
      </geometry>
    </collision>
  </link>
  <link name="sink_area_dish_washer_tray_handle_right_side">
    <visual>
      <geometry>
        <box size="0.03 0.01 0.01"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.03 0.01 0.01"/>
      </geometry>
    </collision>
  </link>
  <link name="sink_area_dish_washer_tray_handle_front_side">
    <visual>
      <geometry>
        <box size="0.01 0.4 0.01"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.01 0.4 0.01"/>
      </geometry>
    </collision>
  </link>
  <joint name="sink_area_dish_washer_tray_handle_front_left_joint" type="fixed">
    <origin xyz="-0.01 -0.2 0"/>
    <child link="sink_area_dish_washer_tray_handle_left_side"/>
    <parent link="sink_area_dish_washer_tray_handle_front_side"/>
  </joint>
  <joint name="sink_area_dish_washer_tray_handle_front_right_joint" type="fixed">
    <origin xyz="-0.01 0.2 0"/>
    <child link="sink_area_dish_washer_tray_handle_right_side"/>
    <parent link="sink_area_dish_washer_tray_handle_front_side"/>
  </joint>
  <link name="oven_area_area_footprint">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
  </link>
  <link name="oven_area_area">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_footprint_joint" type="fixed">
    <origin rpy="0 0 3.14159265359" xyz="1.845 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>
  <!-- LINKS -->
  <link name="oven_area_oven_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="oven_area_oven_door">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/OvenDoor.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/OvenDoor.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="oven_area_oven_door_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="oven_area_oven_panel">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/OvenPanel.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/OvenPanel.dae"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINTS -->
  <joint name="oven_area_oven_main_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 0.415"/>
    <parent link="oven_area_area"/>
    <child link="oven_area_oven_main"/>
  </joint>
  <joint name="oven_area_oven_door_joint" type="revolute">
    <origin rpy="-1.57079632679 0 0" xyz="0.2737 0. -0.2614"/>
    <parent link="oven_area_oven_main"/>
    <child link="oven_area_oven_door"/>
    <axis xyz="0 0 1"/>
    <!--
        <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
        -->
    <!-- FIXME make the closed position stable -->
    <limit effort="0.03" lower="0" upper="1.57079632679" velocity="10"/>
    <dynamics damping="100.1"/>
  </joint>
  <gazebo reference="oven_area_oven_door_joint">
    <kp>1000000000</kp>
    <kd>1000000000</kd>
  </gazebo>
  <joint name="oven_area_oven_door_handle_joint" type="fixed">
    <origin rpy="-1.57079632679 0 0" xyz="0.05876 -0.39803 0."/>
    <parent link="oven_area_oven_door"/>
    <child link="oven_area_oven_door_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <joint name="oven_area_oven_panel_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.27 0 0.2449"/>
    <parent link="oven_area_oven_main"/>
    <child link="oven_area_oven_panel"/>
  </joint>
  <!--KNOBS -->
  <link name="oven_area_oven_knob_stove_1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_oven_knob_stove_1_joint" type="revolute">
    <origin rpy="0 -1.57079632679 0" xyz="0 -0.21 0"/>
    <parent link="oven_area_oven_panel"/>
    <child link="oven_area_oven_knob_stove_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
  </joint>
  <link name="oven_area_oven_knob_stove_2">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_oven_knob_stove_2_joint" type="revolute">
    <origin rpy="0 -1.57079632679 0" xyz="0 -0.14 0"/>
    <parent link="oven_area_oven_panel"/>
    <child link="oven_area_oven_knob_stove_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
  </joint>
  <link name="oven_area_oven_knob_stove_3">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_oven_knob_stove_3_joint" type="revolute">
    <origin rpy="0 -1.57079632679 0" xyz="0 -0.07 0"/>
    <parent link="oven_area_oven_panel"/>
    <child link="oven_area_oven_knob_stove_3"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
  </joint>
  <link name="oven_area_oven_knob_stove_4">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_oven_knob_stove_4_joint" type="revolute">
    <origin rpy="0 -1.57079632679 0" xyz="0 -0.0 0"/>
    <parent link="oven_area_oven_panel"/>
    <child link="oven_area_oven_knob_stove_4"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
  </joint>
  <link name="oven_area_oven_knob_oven">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_oven_knob_oven_joint" type="revolute">
    <origin rpy="0 -1.57079632679 0" xyz="0 0.16 0"/>
    <parent link="oven_area_oven_panel"/>
    <child link="oven_area_oven_knob_oven"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
  </joint>
  <link name="oven_area_area_middle_upper_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_14.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_14.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="oven_area_area_middle_upper_drawer_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_middle_upper_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0 -0. 0.045 "/>
    <parent link="oven_area_area"/>
    <child link="oven_area_area_middle_upper_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    <!--
          <limit effort="300" lower="0" upper="0" velocity="10"/>
      -->
  </joint>
  <joint name="oven_area_area_middle_upper_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3525 0 0.0175"/>
    <parent link="oven_area_area_middle_upper_drawer_main"/>
    <child link="oven_area_area_middle_upper_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="oven_area_area_middle_lower_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="oven_area_area_middle_lower_drawer_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_middle_lower_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0 -0. -0.315 "/>
    <parent link="oven_area_area"/>
    <child link="oven_area_area_middle_lower_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    <!--
          <limit effort="300" lower="0" upper="0" velocity="10"/>
      -->
  </joint>
  <joint name="oven_area_area_middle_lower_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.37 0 0.25"/>
    <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>
  <joint name="oven_area_area_left_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.29 -0.45 0.07 "/>
    <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>
  <link name="oven_area_area_left_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.025 0.295 1.325"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.025 0.3 1.33"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_left_drawer_handle_joint" type="fixed">
    <origin rpy="-1.57079632679 0 0" xyz="0.08 0.0 0.0"/>
    <parent link="oven_area_area_left_drawer_main"/>
    <child link="oven_area_area_left_drawer_handle"/>
  </joint>
  <link name="oven_area_area_left_drawer_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="oven_area_area_left_drawer_board_0_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.25 0.016"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.25 0.016"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_left_drawer_board_0_joint" type="fixed">
    <origin xyz="-0.25 0 -0.6"/>
    <parent link="oven_area_area_left_drawer_main"/>
    <child link="oven_area_area_left_drawer_board_0_link"/>
  </joint>
  <link name="oven_area_area_left_drawer_barrier_0_right_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_left_drawer_barrier_0_right_joint" type="fixed">
    <origin xyz="-0.25 -0.117 -0.567"/>
    <parent link="oven_area_area_left_drawer_main"/>
    <child link="oven_area_area_left_drawer_barrier_0_right_link"/>
  </joint>
  <link name="oven_area_area_left_drawer_barrier_0_left_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_left_drawer_barrier_0_left_joint" type="fixed">
    <origin xyz="-0.25 0.117 -0.567"/>
    <parent link="oven_area_area_left_drawer_main"/>
    <child link="oven_area_area_left_drawer_barrier_0_left_link"/>
  </joint>
  <link name="oven_area_area_left_drawer_barrier_0_back_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.016 0.25 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.016 0.25 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_left_drawer_barrier_0_back_joint" type="fixed">
    <origin xyz="-0.487 0 -0.567"/>
    <parent link="oven_area_area_left_drawer_main"/>
    <child link="oven_area_area_left_drawer_barrier_0_back_link"/>
  </joint>
  <link name="oven_area_area_left_drawer_board_1_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.25 0.016"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.25 0.016"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_left_drawer_board_1_joint" type="fixed">
    <origin xyz="-0.25 0 -0.28"/>
    <parent link="oven_area_area_left_drawer_main"/>
    <child link="oven_area_area_left_drawer_board_1_link"/>
  </joint>
  <link name="oven_area_area_left_drawer_barrier_1_right_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_left_drawer_barrier_1_right_joint" type="fixed">
    <origin xyz="-0.25 -0.117 -0.247"/>
    <parent link="oven_area_area_left_drawer_main"/>
    <child link="oven_area_area_left_drawer_barrier_1_right_link"/>
  </joint>
  <link name="oven_area_area_left_drawer_barrier_1_left_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_left_drawer_barrier_1_left_joint" type="fixed">
    <origin xyz="-0.25 0.117 -0.247"/>
    <parent link="oven_area_area_left_drawer_main"/>
    <child link="oven_area_area_left_drawer_barrier_1_left_link"/>
  </joint>
  <link name="oven_area_area_left_drawer_barrier_1_back_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.016 0.25 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.016 0.25 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_left_drawer_barrier_1_back_joint" type="fixed">
    <origin xyz="-0.487 0 -0.247"/>
    <parent link="oven_area_area_left_drawer_main"/>
    <child link="oven_area_area_left_drawer_barrier_1_back_link"/>
  </joint>
  <link name="oven_area_area_left_drawer_board_2_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.25 0.016"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.25 0.016"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_left_drawer_board_2_joint" type="fixed">
    <origin xyz="-0.25 0 0.05"/>
    <parent link="oven_area_area_left_drawer_main"/>
    <child link="oven_area_area_left_drawer_board_2_link"/>
  </joint>
  <link name="oven_area_area_left_drawer_barrier_2_right_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_left_drawer_barrier_2_right_joint" type="fixed">
    <origin xyz="-0.25 -0.117 0.083"/>
    <parent link="oven_area_area_left_drawer_main"/>
    <child link="oven_area_area_left_drawer_barrier_2_right_link"/>
  </joint>
  <link name="oven_area_area_left_drawer_barrier_2_left_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_left_drawer_barrier_2_left_joint" type="fixed">
    <origin xyz="-0.25 0.117 0.083"/>
    <parent link="oven_area_area_left_drawer_main"/>
    <child link="oven_area_area_left_drawer_barrier_2_left_link"/>
  </joint>
  <link name="oven_area_area_left_drawer_barrier_2_back_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.016 0.25 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.016 0.25 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_left_drawer_barrier_2_back_joint" type="fixed">
    <origin xyz="-0.487 0 0.083"/>
    <parent link="oven_area_area_left_drawer_main"/>
    <child link="oven_area_area_left_drawer_barrier_2_back_link"/>
  </joint>
  <link name="oven_area_area_left_drawer_board_3_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.25 0.016"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.25 0.016"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_left_drawer_board_3_joint" type="fixed">
    <origin xyz="-0.25 0 0.38"/>
    <parent link="oven_area_area_left_drawer_main"/>
    <child link="oven_area_area_left_drawer_board_3_link"/>
  </joint>
  <link name="oven_area_area_left_drawer_barrier_3_right_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_left_drawer_barrier_3_right_joint" type="fixed">
    <origin xyz="-0.25 -0.117 0.413"/>
    <parent link="oven_area_area_left_drawer_main"/>
    <child link="oven_area_area_left_drawer_barrier_3_right_link"/>
  </joint>
  <link name="oven_area_area_left_drawer_barrier_3_left_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_left_drawer_barrier_3_left_joint" type="fixed">
    <origin xyz="-0.25 0.117 0.413"/>
    <parent link="oven_area_area_left_drawer_main"/>
    <child link="oven_area_area_left_drawer_barrier_3_left_link"/>
  </joint>
  <link name="oven_area_area_left_drawer_barrier_3_back_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.016 0.25 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.016 0.25 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_left_drawer_barrier_3_back_joint" type="fixed">
    <origin xyz="-0.487 0 0.413"/>
    <parent link="oven_area_area_left_drawer_main"/>
    <child link="oven_area_area_left_drawer_barrier_3_back_link"/>
  </joint>
  <joint name="oven_area_area_right_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.29 0.45 0.07"/>
    <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>
  <link name="oven_area_area_right_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.025 0.295 1.325"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.025 0.3 1.33"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_right_drawer_handle_joint" type="fixed">
    <origin rpy="-1.57079632679 0 0" xyz="0.08 0.0 0.0"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="oven_area_area_right_drawer_handle"/>
  </joint>
  <link name="oven_area_area_right_drawer_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="oven_area_area_right_drawer_board_0_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.25 0.016"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.25 0.016"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_right_drawer_board_0_joint" type="fixed">
    <origin xyz="-0.25 0 -0.6"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="oven_area_area_right_drawer_board_0_link"/>
  </joint>
  <link name="oven_area_area_right_drawer_barrier_0_right_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_right_drawer_barrier_0_right_joint" type="fixed">
    <origin xyz="-0.25 -0.117 -0.567"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="oven_area_area_right_drawer_barrier_0_right_link"/>
  </joint>
  <link name="oven_area_area_right_drawer_barrier_0_left_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_right_drawer_barrier_0_left_joint" type="fixed">
    <origin xyz="-0.25 0.117 -0.567"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="oven_area_area_right_drawer_barrier_0_left_link"/>
  </joint>
  <link name="oven_area_area_right_drawer_barrier_0_back_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.016 0.25 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.016 0.25 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_right_drawer_barrier_0_back_joint" type="fixed">
    <origin xyz="-0.487 0 -0.567"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="oven_area_area_right_drawer_barrier_0_back_link"/>
  </joint>
  <link name="oven_area_area_right_drawer_board_1_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.25 0.016"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.25 0.016"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_right_drawer_board_1_joint" type="fixed">
    <origin xyz="-0.25 0 -0.28"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="oven_area_area_right_drawer_board_1_link"/>
  </joint>
  <link name="oven_area_area_right_drawer_barrier_1_right_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_right_drawer_barrier_1_right_joint" type="fixed">
    <origin xyz="-0.25 -0.117 -0.247"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="oven_area_area_right_drawer_barrier_1_right_link"/>
  </joint>
  <link name="oven_area_area_right_drawer_barrier_1_left_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_right_drawer_barrier_1_left_joint" type="fixed">
    <origin xyz="-0.25 0.117 -0.247"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="oven_area_area_right_drawer_barrier_1_left_link"/>
  </joint>
  <link name="oven_area_area_right_drawer_barrier_1_back_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.016 0.25 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.016 0.25 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_right_drawer_barrier_1_back_joint" type="fixed">
    <origin xyz="-0.487 0 -0.247"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="oven_area_area_right_drawer_barrier_1_back_link"/>
  </joint>
  <link name="oven_area_area_right_drawer_board_2_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.25 0.016"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.25 0.016"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_right_drawer_board_2_joint" type="fixed">
    <origin xyz="-0.25 0 0.05"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="oven_area_area_right_drawer_board_2_link"/>
  </joint>
  <link name="oven_area_area_right_drawer_barrier_2_right_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_right_drawer_barrier_2_right_joint" type="fixed">
    <origin xyz="-0.25 -0.117 0.083"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="oven_area_area_right_drawer_barrier_2_right_link"/>
  </joint>
  <link name="oven_area_area_right_drawer_barrier_2_left_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_right_drawer_barrier_2_left_joint" type="fixed">
    <origin xyz="-0.25 0.117 0.083"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="oven_area_area_right_drawer_barrier_2_left_link"/>
  </joint>
  <link name="oven_area_area_right_drawer_barrier_2_back_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.016 0.25 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.016 0.25 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_right_drawer_barrier_2_back_joint" type="fixed">
    <origin xyz="-0.487 0 0.083"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="oven_area_area_right_drawer_barrier_2_back_link"/>
  </joint>
  <link name="oven_area_area_right_drawer_board_3_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.25 0.016"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.25 0.016"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_right_drawer_board_3_joint" type="fixed">
    <origin xyz="-0.25 0 0.38"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="oven_area_area_right_drawer_board_3_link"/>
  </joint>
  <link name="oven_area_area_right_drawer_barrier_3_right_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_right_drawer_barrier_3_right_joint" type="fixed">
    <origin xyz="-0.25 -0.117 0.413"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="oven_area_area_right_drawer_barrier_3_right_link"/>
  </joint>
  <link name="oven_area_area_right_drawer_barrier_3_left_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.49 0.016 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_right_drawer_barrier_3_left_joint" type="fixed">
    <origin xyz="-0.25 0.117 0.413"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="oven_area_area_right_drawer_barrier_3_left_link"/>
  </joint>
  <link name="oven_area_area_right_drawer_barrier_3_back_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.016 0.25 0.082"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.016 0.25 0.082"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_area_right_drawer_barrier_3_back_joint" type="fixed">
    <origin xyz="-0.487 0 0.413"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="oven_area_area_right_drawer_barrier_3_back_link"/>
  </joint>
  <link name="kitchen_island_footprint">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
  </link>
  <link name="kitchen_island">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/racks/IslandArea.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/racks/IslandArea.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="kitchen_island_footprint_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-1.365 0.59 0"/>
    <child link="kitchen_island_footprint"/>
    <parent link="room_link"/>
  </joint>
  <joint name="kitchen_island_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.2975 1.1292 0.421"/>
    <parent link="kitchen_island_footprint"/>
    <child link="kitchen_island"/>
  </joint>
  <link name="kitchen_island_surface">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.8 2.45 0.02"/>
      </geometry>
    </collision>
  </link>
  <joint name="kitchen_island_surface_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0. 0.42"/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_surface"/>
  </joint>
  <link name="kitchen_island_stove">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/Stove.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/Stove.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="kitchen_island_stove_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.7658 0.4315"/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_stove"/>
  </joint>
  <link name="kitchen_island_left_panel">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="kitchen_island_left_panel_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.2725 -0.8 0.329 "/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_left_panel"/>
  </joint>
  <link name="kitchen_island_left_upper_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="kitchen_island_left_upper_drawer_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="kitchen_island_left_upper_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0025 -0.8 0.114 "/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_left_upper_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    <!--
          <limit effort="300" lower="0" upper="0" velocity="10"/>
      -->
  </joint>
  <joint name="kitchen_island_left_upper_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
    <parent link="kitchen_island_left_upper_drawer_main"/>
    <child link="kitchen_island_left_upper_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="kitchen_island_left_lower_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="kitchen_island_left_lower_drawer_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="kitchen_island_left_lower_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0025 -0.8 -0.176 "/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_left_lower_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    <!--
          <limit effort="300" lower="0" upper="0" velocity="10"/>
      -->
  </joint>
  <joint name="kitchen_island_left_lower_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
    <parent link="kitchen_island_left_lower_drawer_main"/>
    <child link="kitchen_island_left_lower_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="kitchen_island_middle_panel">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_100.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_100.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="kitchen_island_middle_panel_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.2725 0 0.329 "/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_middle_panel"/>
  </joint>
  <link name="kitchen_island_middle_upper_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="kitchen_island_middle_upper_drawer_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="kitchen_island_middle_upper_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0025 0 0.114 "/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_middle_upper_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    <!--
          <limit effort="300" lower="0" upper="0" velocity="10"/>
      -->
  </joint>
  <joint name="kitchen_island_middle_upper_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
    <parent link="kitchen_island_middle_upper_drawer_main"/>
    <child link="kitchen_island_middle_upper_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="kitchen_island_middle_lower_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="kitchen_island_middle_lower_drawer_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="kitchen_island_middle_lower_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0025 0 -0.176 "/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_middle_lower_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    <!--
          <limit effort="300" lower="0" upper="0" velocity="10"/>
      -->
  </joint>
  <joint name="kitchen_island_middle_lower_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
    <parent link="kitchen_island_middle_lower_drawer_main"/>
    <child link="kitchen_island_middle_lower_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="kitchen_island_right_panel">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="kitchen_island_right_panel_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.2725 0.8 0.329 "/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_right_panel"/>
  </joint>
  <link name="kitchen_island_right_upper_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="kitchen_island_right_upper_drawer_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="kitchen_island_right_upper_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0025 0.8 0.114 "/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_right_upper_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    <!--
          <limit effort="300" lower="0" upper="0" velocity="10"/>
      -->
  </joint>
  <joint name="kitchen_island_right_upper_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
    <parent link="kitchen_island_right_upper_drawer_main"/>
    <child link="kitchen_island_right_upper_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="kitchen_island_right_lower_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="kitchen_island_right_lower_drawer_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="kitchen_island_right_lower_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0025 0.8 -0.176 "/>
    <parent link="kitchen_island"/>
    <child link="kitchen_island_right_lower_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    <!--
          <limit effort="300" lower="0" upper="0" velocity="10"/>
      -->
  </joint>
  <joint name="kitchen_island_right_lower_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
    <parent link="kitchen_island_right_lower_drawer_main"/>
    <child link="kitchen_island_right_lower_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="fridge_area_footprint">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
  </link>
  <link name="fridge_area">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.01"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.01"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.dae"/>
        <!--mesh filename="package://iai_kitchen/meshes/collision/kitchen_fridge.stl"/-->
      </geometry>
    </collision>
  </link>
  <joint name="fridge_area_footprint_joint" type="fixed">
    <origin rpy="0 0 3.14159265359" xyz="1.845 -0.73 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 0.3 0.74"/>
    <parent link="fridge_area_footprint"/>
    <child link="fridge_area"/>
  </joint>
  <link name="fridge_area_lower_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="fridge_area_lower_drawer_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="fridge_area_lower_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0 -0.0 -0.4175 "/>
    <parent link="fridge_area"/>
    <child link="fridge_area_lower_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    <!--
          <limit effort="300" lower="0" upper="0" velocity="10"/>
      -->
  </joint>
  <joint name="fridge_area_lower_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
    <parent link="fridge_area_lower_drawer_main"/>
    <child link="fridge_area_lower_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="iai_fridge_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/Fridge.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/Fridge.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="iai_fridge_main_middle_level">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.29 0.50 0.01"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.29 0.50 0.01"/>
      </geometry>
    </collision>
  </link>
  <link name="iai_fridge_door">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="iai_fridge_ceiling">
    <visual>
      <geometry>
        <box size="0.56 0.5 0.13"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.56 0.5 0.13"/>
      </geometry>
    </collision>
  </link>
  <link name="iai_fridge_door_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="iai_fridge_main_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.25"/>
    <parent link="fridge_area"/>
    <child link="iai_fridge_main"/>
  </joint>
  <joint name="iai_fridge_main_middle_level_joint" type="fixed">
    <parent link="iai_fridge_main"/>
    <child link="iai_fridge_main_middle_level"/>
    <origin rpy="0 0 0" xyz="-0.01 0 0.01"/>
  </joint>
  <joint name="iai_fridge_door_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.29 0.3 0"/>
    <parent link="iai_fridge_main"/>
    <child link="iai_fridge_door"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
    <!--
      <limit lower="0" upper="0" effort="300" velocity="10"/>
-->
  </joint>
  <joint name="iai_fridge_ceiling_joint" type="fixed">
    <origin xyz="0.0 0.0 0.44"/>
    <parent link="iai_fridge_main"/>
    <child link="iai_fridge_ceiling"/>
  </joint>
  <joint name="iai_fridge_door_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.09 -0.57 0."/>
    <parent link="iai_fridge_door"/>
    <child link="iai_fridge_door_handle"/>
  </joint>
  <link name="iai_fridge_door_block">
    <visual>
      <geometry>
        <box size="0.04 0.523 0.88"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.04 0.523 0.88"/>
      </geometry>
    </collision>
  </link>
  <link name="iai_fridge_door_block_right_bar">
    <visual>
      <geometry>
        <box size="0.06 0.015 0.73"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.06 0.015 0.73"/>
      </geometry>
    </collision>
  </link>
  <link name="iai_fridge_door_block_left_bar">
    <visual>
      <geometry>
        <box size="0.06 0.015 0.73"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.06 0.015 0.73"/>
      </geometry>
    </collision>
  </link>
  <link name="iai_fridge_door_block_top_bar">
    <visual>
      <geometry>
        <box size="0.045 0.46 0.01"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.045 0.46 0.01"/>
      </geometry>
    </collision>
  </link>
  <joint name="iai_fridge_door_block_joint" type="fixed">
    <origin xyz="-0.025 -0.27 -0.01"/>
    <parent link="iai_fridge_door"/>
    <child link="iai_fridge_door_block"/>
  </joint>
  <joint name="iai_fridge_door_block_right_bar_joint" type="fixed">
    <origin xyz="-0.0425 -0.2225 0.01"/>
    <parent link="iai_fridge_door_block"/>
    <child link="iai_fridge_door_block_right_bar"/>
  </joint>
  <joint name="iai_fridge_door_block_left_bar_joint" type="fixed">
    <origin xyz="-0.0425 0.2225 0.01"/>
    <parent link="iai_fridge_door_block"/>
    <child link="iai_fridge_door_block_left_bar"/>
  </joint>
  <joint name="iai_fridge_door_block_top_bar_joint" type="fixed">
    <origin xyz="-0.03 0 0.37"/>
    <parent link="iai_fridge_door_block"/>
    <child link="iai_fridge_door_block_top_bar"/>
  </joint>
  <joint name="iai_fridge_door_shelf1_to_door" type="fixed">
    <origin xyz="-0.07 0 -0.3525 "/>
    <child link="iai_fridge_door_shelf1_bottom"/>
    <parent link="iai_fridge_door_block"/>
  </joint>
  <link name="iai_fridge_door_shelf1_bottom">
    <visual>
      <geometry>
        <box size="0.1 0.35 0.01"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.1 0.35 0.01"/>
      </geometry>
    </collision>
  </link>
  <link name="iai_fridge_door_shelf1_left_side">
    <visual>
      <geometry>
        <box size="0.115 0.06 0.1"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.115 0.06 0.1"/>
      </geometry>
    </collision>
  </link>
  <link name="iai_fridge_door_shelf1_right_side">
    <visual>
      <geometry>
        <box size="0.115 0.06 0.1"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.115 0.06 0.1"/>
      </geometry>
    </collision>
  </link>
  <link name="iai_fridge_door_shelf1_front_side">
    <visual>
      <geometry>
        <box size="0.02 0.35 0.1"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.01 0.35 0.1"/>
      </geometry>
    </collision>
  </link>
  <joint name="iai_fridge_door_shelf1_left_to_bottom" type="fixed">
    <origin xyz="-0.0025 -0.2 0.045"/>
    <parent link="iai_fridge_door_shelf1_bottom"/>
    <child link="iai_fridge_door_shelf1_left_side"/>
  </joint>
  <joint name="iai_fridge_door_shelf1_right_to_bottom" type="fixed">
    <origin xyz="-0.0025 0.2 0.045"/>
    <parent link="iai_fridge_door_shelf1_bottom"/>
    <child link="iai_fridge_door_shelf1_right_side"/>
  </joint>
  <joint name="iai_fridge_door_shelf1_front_to_bottom" type="fixed">
    <origin xyz="-0.05 0 0.045"/>
    <parent link="iai_fridge_door_shelf1_bottom"/>
    <child link="iai_fridge_door_shelf1_front_side"/>
  </joint>
  <joint name="iai_fridge_door_shelf2_to_door" type="fixed">
    <origin xyz="-0.07 0 0.02"/>
    <child link="iai_fridge_door_shelf2_bottom"/>
    <parent link="iai_fridge_door_block"/>
  </joint>
  <link name="iai_fridge_door_shelf2_bottom">
    <visual>
      <geometry>
        <box size="0.1 0.35 0.01"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.1 0.35 0.01"/>
      </geometry>
    </collision>
  </link>
  <link name="iai_fridge_door_shelf2_left_side">
    <visual>
      <geometry>
        <box size="0.115 0.06 0.065"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.115 0.06 0.065"/>
      </geometry>
    </collision>
  </link>
  <link name="iai_fridge_door_shelf2_right_side">
    <visual>
      <geometry>
        <box size="0.115 0.06 0.065"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.115 0.06 0.065"/>
      </geometry>
    </collision>
  </link>
  <link name="iai_fridge_door_shelf2_front_side">
    <visual>
      <geometry>
        <box size="0.02 0.35 0.065"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.01 0.35 0.065"/>
      </geometry>
    </collision>
  </link>
  <joint name="iai_fridge_door_shelf2_left_to_bottom" type="fixed">
    <origin xyz="-0.0025 -0.2 0.0275"/>
    <parent link="iai_fridge_door_shelf2_bottom"/>
    <child link="iai_fridge_door_shelf2_left_side"/>
  </joint>
  <joint name="iai_fridge_door_shelf2_right_to_bottom" type="fixed">
    <origin xyz="-0.0025 0.2 0.0275"/>
    <parent link="iai_fridge_door_shelf2_bottom"/>
    <child link="iai_fridge_door_shelf2_right_side"/>
  </joint>
  <joint name="iai_fridge_door_shelf2_front_to_bottom" type="fixed">
    <origin xyz="-0.05 0 0.0275"/>
    <parent link="iai_fridge_door_shelf2_bottom"/>
    <child link="iai_fridge_door_shelf2_front_side"/>
  </joint>
  <joint name="iai_fridge_door_shelf3_to_door" type="fixed">
    <origin xyz="-0.07 0 0.23"/>
    <child link="iai_fridge_door_shelf3_bottom"/>
    <parent link="iai_fridge_door_block"/>
  </joint>
  <link name="iai_fridge_door_shelf3_bottom">
    <visual>
      <geometry>
        <box size="0.1 0.35 0.01"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.1 0.35 0.01"/>
      </geometry>
    </collision>
  </link>
  <link name="iai_fridge_door_shelf3_left_side">
    <visual>
      <geometry>
        <box size="0.115 0.06 0.065"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.115 0.06 0.065"/>
      </geometry>
    </collision>
  </link>
  <link name="iai_fridge_door_shelf3_right_side">
    <visual>
      <geometry>
        <box size="0.115 0.06 0.065"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.115 0.06 0.065"/>
      </geometry>
    </collision>
  </link>
  <link name="iai_fridge_door_shelf3_front_side">
    <visual>
      <geometry>
        <box size="0.02 0.35 0.065"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.01 0.35 0.065"/>
      </geometry>
    </collision>
  </link>
  <joint name="iai_fridge_door_shelf3_left_to_bottom" type="fixed">
    <origin xyz="-0.0025 -0.2 0.0275"/>
    <parent link="iai_fridge_door_shelf3_bottom"/>
    <child link="iai_fridge_door_shelf3_left_side"/>
  </joint>
  <joint name="iai_fridge_door_shelf3_right_to_bottom" type="fixed">
    <origin xyz="-0.0025 0.2 0.0275"/>
    <parent link="iai_fridge_door_shelf3_bottom"/>
    <child link="iai_fridge_door_shelf3_right_side"/>
  </joint>
  <joint name="iai_fridge_door_shelf3_front_to_bottom" type="fixed">
    <origin xyz="-0.05 0 0.0275"/>
    <parent link="iai_fridge_door_shelf3_bottom"/>
    <child link="iai_fridge_door_shelf3_front_side"/>
  </joint>
  <link name="table_area_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.3619"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.stl"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.3619"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="table_area_main_joint" type="fixed">
    <origin rpy="0 0 3.14159265359" xyz="-2.4 -1.5 0"/>
    <parent link="room_link"/>
    <child link="table_area_main"/>
  </joint>
  <link name="dining_area_footprint">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
  </link>
  <joint name="dining_area_footprint_joint" type="fixed">
    <origin rpy="0 0 1.57079632679" xyz="-3.38 0.28 0"/>
    <child link="dining_area_footprint"/>
    <parent link="room_link"/>
  </joint>
  <link name="dining_area_jokkmokk_table_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkTable.obj" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkTable.obj" scale="1 1 1"/>
      </geometry>
    </collision>
  </link>
  <joint name="dining_area_jokkmokk_table_main_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="dining_area_footprint"/>
    <child link="dining_area_jokkmokk_table_main"/>
  </joint>
  <link name="dining_area_jokkmokk_left_chair_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj" scale="1 1 1"/>
      </geometry>
    </collision>
  </link>
  <joint name="dining_area_jokkmokk_left_chair_main_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-1 0 0"/>
    <parent link="dining_area_footprint"/>
    <child link="dining_area_jokkmokk_left_chair_main"/>
  </joint>
  <link name="dining_area_jokkmokk_right_chair_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj" scale="1 1 1"/>
      </geometry>
    </collision>
  </link>
  <joint name="dining_area_jokkmokk_right_chair_main_joint" type="fixed">
    <origin rpy="0 0 -3.14159265359" xyz="1 0 0"/>
    <parent link="dining_area_footprint"/>
    <child link="dining_area_jokkmokk_right_chair_main"/>
  </joint>
  <!-- LINKS -->
  <link name="kitchen_wall_1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 1.25"/>
      <geometry>
        <box size="1.1376 0.15 2.5"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 1.25"/>
      <geometry>
        <box size="1.1376 0.15 2.5"/>
      </geometry>
    </collision>
  </link>
  <link name="kitchen_wall_2">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 1.25"/>
      <geometry>
        <box size="5.182 0.15 2.5"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 1.25"/>
      <geometry>
        <box size="5.182 0.15 2.5"/>
      </geometry>
    </collision>
  </link>
  <link name="kitchen_wall_3">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 1.25"/>
      <geometry>
        <box size="5.901 0.15 2.5"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 1.25"/>
      <geometry>
        <box size="5.901 0.15 2.5"/>
      </geometry>
    </collision>
  </link>
  <link name="kitchen_wall_4">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.35"/>
      <geometry>
        <box size="4.25 0.15 0.7"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.35"/>
      <geometry>
        <box size="4.25 0.15 0.7"/>
      </geometry>
    </collision>
  </link>
  <link name="kitchen_wall_5">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.35"/>
      <geometry>
        <box size="2.27328 0.15 0.7"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.35"/>
      <geometry>
        <box size="2.27328 0.15 0.7"/>
      </geometry>
    </collision>
  </link>
  <link name="kitchen_wall_6">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.35"/>
      <geometry>
        <box size="1 0.15 0.7"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.35"/>
      <geometry>
        <box size="1 0.15 0.7"/>
      </geometry>
    </collision>
  </link>
  <link name="kitchen_wall_7">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.375"/>
      <geometry>
        <box size="1.6 0.15 0.75"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.375"/>
      <geometry>
        <box size="1.6 0.15 0.75"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINTS -->
  <link name="kitchen_walls"/>
  <joint name="walls_main_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="-0.96 0.65 0"/>
    <parent link="room_link"/>
    <child link="kitchen_walls"/>
  </joint>
  <joint name="wall_1_joint" type="fixed">
    <origin rpy="0 -0 3.14159" xyz="2.38151 -2.516 0"/>
    <parent link="kitchen_walls"/>
    <child link="kitchen_wall_1"/>
  </joint>
  <!--
    <joint name="wall_1_joint" type="fixed">
        <origin xyz="1 0.562175 0" rpy="0 0 0" />
      <parent link="kitchen_walls"/>
      <child link="kitchen_wall_1"/>
    </joint>
    -->
  <joint name="wall_2_joint" type="fixed">
    <origin rpy="0 -0 1.5708" xyz="2.87551 0 0"/>
    <parent link="kitchen_walls"/>
    <child link="kitchen_wall_2"/>
  </joint>
  <joint name="wall_3_joint" type="fixed">
    <origin rpy="0 -0 3.14159" xyz="0 2.516 0"/>
    <parent link="kitchen_walls"/>
    <child link="kitchen_wall_3"/>
  </joint>
  <joint name="wall_4_joint" type="fixed">
    <origin rpy="0 0 -1.5708" xyz="-2.87549 0.466 0"/>
    <parent link="kitchen_walls"/>
    <child link="kitchen_wall_4"/>
  </joint>
  <joint name="wall_5_joint" type="fixed">
    <origin rpy="0 -0 0.000157" xyz="-1.81385 -1.70376 0"/>
    <parent link="kitchen_walls"/>
    <child link="kitchen_wall_5"/>
  </joint>
  <joint name="wall_6_joint" type="fixed">
    <origin rpy="0 0 -1.5708" xyz="-0.65 -2.12851 0"/>
    <parent link="kitchen_walls"/>
    <child link="kitchen_wall_6"/>
  </joint>
  <joint name="wall_7_joint" type="fixed">
    <origin rpy="0 -0 3.14159" xyz="1.01271 -2.556 0"/>
    <parent link="kitchen_walls"/>
    <child link="kitchen_wall_7"/>
  </joint>
  <gazebo reference="kitchen_wall_6">
    <material>Gazebo/DarkGrey</material>
  </gazebo>
  <gazebo>
    <static>false</static>
  </gazebo>
</robot>
