<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from iai_kitchen_python.urdf.xacro  | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="iai_oven_area" xmlns:xacro="http://ros.org/wiki/xacro">
  <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="map"/>
  <joint name="map_room_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 0 "/>
    <parent link="map"/>
    <child link="room_link"/>
  </joint>
  <gazebo>
    <static>false</static>
  </gazebo>
  <!--- FIXME THIS should NOT be here -->
  <!--
  <link name="map">
    
    <sphere_inertia radius="0" mass="0"/>
  </link>
  <iai_drawer_60_14 name="drawer_1" parent="map">
    <origin rpy="0 0 0" xyz="0 0 1"/>
  </iai_drawer_60_14>
  
  <iai_drawer_80_14 name="drawer_2" parent="map">
    <origin rpy="0 0 0" xyz="0 0 2"/>
  </iai_drawer_80_14>
  
  <iai_drawer_60_29 name="drawer_3" parent="map">
    <origin rpy="0 0 0" xyz="0 0 3"/>
  </iai_drawer_60_29>
  
  <iai_drawer_80_29 name="drawer_4" parent="map">
    <origin rpy="0 0 0" xyz="0 0 4"/>
  </iai_drawer_80_29>
  
  <iai_drawer_100_29 name="drawer_5" parent="map">
    <origin rpy="0 0 0" xyz="0 0 5"/>
  </iai_drawer_100_29>
  -->
  <!--- FIXME THIS should NOT be here -->
  <!--
  <link name="oven_footprint">
    
    <sphere_inertia radius="0" mass="0"/>
  </link>
  <iai_oven name="iai_oven" parent="oven_footprint"/>
  -->
  <!--- FIXME THIS should NOT be here -->
  <!--
  <link name="map">
    
    <sphere_inertia radius="0" mass="0"/>
  </link>
  <iai_drawer_60_14 name="drawer_1" parent="map">
    <origin rpy="0 0 0" xyz="0 0 1"/>
  </iai_drawer_60_14>
  
  <iai_drawer_80_14 name="drawer_2" parent="map">
    <origin rpy="0 0 0" xyz="0 0 2"/>
  </iai_drawer_80_14>
  
  <iai_drawer_60_29 name="drawer_3" parent="map">
    <origin rpy="0 0 0" xyz="0 0 3"/>
  </iai_drawer_60_29>
  
  <iai_drawer_80_29 name="drawer_4" parent="map">
    <origin rpy="0 0 0" xyz="0 0 4"/>
  </iai_drawer_80_29>
  
  <iai_drawer_100_29 name="drawer_5" parent="map">
    <origin rpy="0 0 0" xyz="0 0 5"/>
  </iai_drawer_100_29>
  -->
  <!--- FIXME THIS should NOT be here -->
  <!--
  <link name="map">
    
    <sphere_inertia radius="0" mass="0"/>
  </link>
  <iai_drawer_60_14 name="drawer_1" parent="map">
    <origin rpy="0 0 0" xyz="0 0 1"/>
  </iai_drawer_60_14>
  
  <iai_drawer_80_14 name="drawer_2" parent="map">
    <origin rpy="0 0 0" xyz="0 0 2"/>
  </iai_drawer_80_14>
  
  <iai_drawer_60_29 name="drawer_3" parent="map">
    <origin rpy="0 0 0" xyz="0 0 3"/>
  </iai_drawer_60_29>
  
  <iai_drawer_80_29 name="drawer_4" parent="map">
    <origin rpy="0 0 0" xyz="0 0 4"/>
  </iai_drawer_80_29>
  
  <iai_drawer_100_29 name="drawer_5" parent="map">
    <origin rpy="0 0 0" xyz="0 0 5"/>
  </iai_drawer_100_29>
  -->
  <!--- FIXME THIS should NOT be here -->
  <!--
  <link name="map">
    
    <sphere_inertia radius="0" mass="0"/>
  </link>
  <iai_drawer_60_14 name="drawer_1" parent="map">
    <origin rpy="0 0 0" xyz="0 0 1"/>
  </iai_drawer_60_14>
  
  <iai_drawer_80_14 name="drawer_2" parent="map">
    <origin rpy="0 0 0" xyz="0 0 2"/>
  </iai_drawer_80_14>
  
  <iai_drawer_60_29 name="drawer_3" parent="map">
    <origin rpy="0 0 0" xyz="0 0 3"/>
  </iai_drawer_60_29>
  
  <iai_drawer_80_29 name="drawer_4" parent="map">
    <origin rpy="0 0 0" xyz="0 0 4"/>
  </iai_drawer_80_29>
  
  <iai_drawer_100_29 name="drawer_5" parent="map">
    <origin rpy="0 0 0" xyz="0 0 5"/>
  </iai_drawer_100_29>
  -->
  <link name="sink_area_footprint">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
  </link>
  <link name="sink_area">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="sink_area_footprint_joint" type="fixed">
    <origin rpy="0 0 3.14159265359" xyz="1.825 1.32 0"/>
    <child link="sink_area_footprint"/>
    <parent link="room_link"/>
  </joint>
  <joint name="sink_area_main_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.29 1.03 0.41"/>
    <parent link="sink_area_footprint"/>
    <child link="sink_area"/>
  </joint>
  <link name="sink_area_surface">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.225 0"/>
      <geometry>
        <box size="0.575 1.6 0.02"/>
      </geometry>
    </collision>
  </link>
  <joint name="sink_area_surface_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0. 0.43"/>
    <parent link="sink_area"/>
    <child link="sink_area_surface"/>
  </joint>
  <link name="sink_area_sink">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/Sink.dae"/>
      </geometry>
    </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="0.3325 0 0.2375"/>
    <parent link="sink_area_trash_drawer_main"/>
    <child link="sink_area_trash_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="sink_area_left_upper_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_14.dae"/>
      </geometry>
    </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="0.3325 0 0.0175"/>
    <parent link="sink_area_left_upper_drawer_main"/>
    <child link="sink_area_left_upper_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="sink_area_left_middle_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
      </geometry>
    </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="0.3325 0 0.11"/>
    <parent link="sink_area_left_middle_drawer_main"/>
    <child link="sink_area_left_middle_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="sink_area_left_bottom_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
      </geometry>
    </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="0.3325 0 0.11"/>
    <parent link="sink_area_left_bottom_drawer_main"/>
    <child link="sink_area_left_bottom_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="sink_area_dish_washer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="sink_area_dish_washer_door">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="sink_area_dish_washer_door_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
      </geometry>
    </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 0.044 "/>
    <parent link="sink_area"/>
    <child link="sink_area_dish_washer_main"/>
  </joint>
  <joint name="sink_area_dish_washer_door_joint" type="revolute">
    <origin rpy="-1.57079632679 0 0" xyz="0.27 0. -0.325"/>
    <parent link="sink_area_dish_washer_main"/>
    <child link="sink_area_dish_washer_door"/>
    <axis xyz="0 0 1"/>
    <!-- FIXME make closed position stable instead of forbidding opening... -->
    <limit effort="300" lower="0" upper="0" velocity="10"/>
  </joint>
  <joint name="sink_area_dish_washer_door_handle_joint" type="fixed">
    <origin rpy="-1.57079632679 0 0" xyz="0.0625 -0.6325 0."/>
    <parent link="sink_area_dish_washer_door"/>
    <child link="sink_area_dish_washer_door_handle"/>
  </joint>
  <link name="oven_area_area_footprint">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
  </link>
  <link name="oven_area_area">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="oven_area_footprint_joint" type="fixed">
    <origin rpy="0 0 3.14159265359" xyz="1.805 2.52 0"/>
    <child link="oven_area_area_footprint"/>
    <parent link="room_link"/>
  </joint>
  <joint name="oven_area_main_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.29 0.6 0.755"/>
    <parent link="oven_area_area_footprint"/>
    <child link="oven_area_area"/>
  </joint>
  <!-- LINKS -->
  <link name="oven_area_oven_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.dae"/>
      </geometry>
    </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="0." velocity="10"/>
    <dynamics damping="100.1"/>
  </joint>
  <gazebo reference="oven_area_oven_door_joint">
    <kp>1000000000</kp>
    <kd>1000000000</kd>
  </gazebo>
  <joint name="oven_area_oven_door_handle_joint" type="fixed">
    <origin rpy="-1.57079632679 0 0" xyz="0.05876 -0.39803 0."/>
    <parent link="oven_area_oven_door"/>
    <child link="oven_area_oven_door_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <joint name="oven_area_oven_panel_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.27 0 0.2449"/>
    <parent link="oven_area_oven_main"/>
    <child link="oven_area_oven_panel"/>
  </joint>
  <!--KNOBS -->
  <link name="oven_area_oven_knob_stove_1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
      </geometry>
    </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="0.3325 0 0.0175"/>
    <parent link="oven_area_area_middle_upper_drawer_main"/>
    <child link="oven_area_area_middle_upper_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="oven_area_area_middle_lower_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.dae"/>
      </geometry>
    </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="0.3325 0 0.2375"/>
    <parent link="oven_area_area_middle_lower_drawer_main"/>
    <child link="oven_area_area_middle_lower_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <!-- This is the vertical drawer -->
  <link name="oven_area_area_left_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="oven_area_area_left_drawer_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
      </geometry>
    </collision>
  </link>
  
  <joint name="oven_area_area_left_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0 -0.45 0.06 "/>
    <parent link="oven_area_area"/>
    <child link="oven_area_area_left_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>

        <limit effort="300" lower="0" upper="0" velocity="10"/>
  </joint>
  <joint name="oven_area_area_left_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3525 0 0"/>
    <parent link="oven_area_area_left_drawer_main"/>
    <child link="oven_area_area_left_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
</joint>
<!-- The inserted drawer -->

 <!-- This is the vertical Drawer -->
 <!-- Joint oven area to the drawer -->
  <joint name="oven_area_area_right_drawer_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.02 0.44 0.05"/>
    <parent link="oven_area_area"/>
    <child link="oven_area_area_right_drawer_main"/>
    <axis xyz="0.999 0 0.044"/>
    <!--  the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>

</joint>


<link name="oven_area_area_right_drawer_main">
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="4e-08" ixy="0" ixz="0" iyy="4e-08" iyz="0" izz="4e-08"/>
    </inertial>
</link>

  <joint name="drawer_oven_right_front_joint" type="fixed">
    <origin rpy="0 0. 0" xyz="0.25 0 0"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="drawer_oven_right_front_link"/>
    <!--
    <axis xyz="0.999 0 0.044"/>
     the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    -->
</joint>

  <link name="drawer_oven_right_front_link">
      <inertial>
        <mass value="1.0"/>
        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
      </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.025 0.295 1.325"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.025 0.3 1.33"/>
      </geometry>
    </collision>
</link>

<!-- Board 0 -->

<link name="drawer_oven_right_board0_link">
    <inertial>
        <mass value="1.0"/>
        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
      </inertial>

    <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.27 0.025"/>
        </geometry>
    </visual>
    <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.27 0.025"/>
        </geometry>
    </collision>
</link>
    
<joint name="drawer_oven_right_board0_joint" type="fixed">
    <origin xyz="0 0 -0.655"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="drawer_oven_right_board0_link"/>
    <!--
    <axis xyz="0.999 0 0.044"/>
     the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    -->

</joint>

<link name="drawer_oven_right_board0_barrier_right_link">
    <inertial>
        <mass value="1.0"/>
        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
    </inertial>

    <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.02 0.05"/>
        </geometry>
    </visual>
    <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.02 0.05"/>
        </geometry>
    </collision>
</link>

<joint name="drawer_oven_right_board0_barrier_right_joint" type="fixed">
    <origin xyz="0 -0.135 -0.62"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="drawer_oven_right_board0_barrier_right_link"/>
</joint>

<link name="drawer_oven_right_board0_barrier_left_link">
    <inertial>
        <mass value="1.0"/>
        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
    </inertial>

    <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.02 0.05"/>
        </geometry>
    </visual>
    <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.02 0.05"/>
        </geometry>
    </collision>
</link>

<joint name="drawer_oven_right_board0_barrier_left_joint" type="fixed">
    <origin xyz="0 0.135 -0.62"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="drawer_oven_right_board0_barrier_left_link"/>
</joint>

<!-- Board 1 -->

<link name="drawer_oven_right_board1_link">
    <inertial>
        <mass value="1.0"/>
        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
      </inertial>

    <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.27 0.025"/>
        </geometry>
    </visual>
    <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.27 0.025"/>
        </geometry>
    </collision>
</link>

<joint name="drawer_oven_right_board1_joint" type="fixed">
    <origin xyz="0 0 -0.33"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="drawer_oven_right_board1_link"/>
</joint>

<link name="drawer_oven_right_board1_barrier_right_link">
    <inertial>
        <mass value="1.0"/>
        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
    </inertial>

    <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.02 0.05"/>
        </geometry>
    </visual>
    <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.02 0.05"/>
        </geometry>
    </collision>
</link>

<joint name="drawer_oven_right_board1_barrier_right_joint" type="fixed">
    <origin xyz="0 -0.135 -0.295"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="drawer_oven_right_board1_barrier_right_link"/>
</joint>

<link name="drawer_oven_right_board1_barrier_left_link">
    <inertial>
        <mass value="1.0"/>
        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
    </inertial>

    <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.02 0.05"/>
        </geometry>
    </visual>
    <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.02 0.05"/>
        </geometry>
    </collision>
</link>

<joint name="drawer_oven_right_board1_barrier_left_joint" type="fixed">
    <origin xyz="0 0.135 -0.295"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="drawer_oven_right_board1_barrier_left_link"/>
</joint>



<!-- Board 2 -->

<link name="drawer_oven_right_board2_link">
    <inertial>
        <mass value="1.0"/>
        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
      </inertial>

    <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.27 0.025"/>
        </geometry>
    </visual>
    <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.27 0.025"/>
        </geometry>
    </collision>
</link>

<joint name="drawer_oven_right_board2_joint" type="fixed">
    <origin xyz="0 0 0"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="drawer_oven_right_board2_link"/>
</joint>

<link name="drawer_oven_right_board2_barrier_right_link">
    <inertial>
        <mass value="1.0"/>
        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
    </inertial>

    <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.02 0.05"/>
        </geometry>
    </visual>
    <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.02 0.05"/>
        </geometry>
    </collision>
</link>

<joint name="drawer_oven_right_board2_barrier_right_joint" type="fixed">
    <origin xyz="0 -0.135 0.035"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="drawer_oven_right_board2_barrier_right_link"/>
</joint>

<link name="drawer_oven_right_board2_barrier_left_link">
    <inertial>
        <mass value="1.0"/>
        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
    </inertial>

    <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.02 0.05"/>
        </geometry>
    </visual>
    <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.02 0.05"/>
        </geometry>
    </collision>
</link>

<joint name="drawer_oven_right_board2_barrier_left_joint" type="fixed">
    <origin xyz="0 0.135 0.035"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="drawer_oven_right_board2_barrier_left_link"/>
</joint>


<!-- Board 3 -->

<link name="drawer_oven_right_board3_link">
    <inertial>
        <mass value="1.0"/>
        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
      </inertial>

    <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.27 0.025"/>
        </geometry>
    </visual>
    <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.27 0.025"/>
        </geometry>
    </collision>
</link>

<joint name="drawer_oven_right_board3_joint" type="fixed">
    <origin xyz="0 0 0.33"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="drawer_oven_right_board3_link"/>
</joint>


<link name="drawer_oven_right_board3_barrier_right_link">
    <inertial>
        <mass value="1.0"/>
        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
    </inertial>

    <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.02 0.05"/>
        </geometry>
    </visual>
    <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.02 0.05"/>
        </geometry>
    </collision>
</link>

<joint name="drawer_oven_right_board3_barrier_right_joint" type="fixed">
    <origin xyz="0 -0.135 0.365"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="drawer_oven_right_board3_barrier_right_link"/>
</joint>

<link name="drawer_oven_right_board3_barrier_left_link">
    <inertial>
        <mass value="1.0"/>
        <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
    </inertial>

    <visual>
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.02 0.05"/>
        </geometry>
    </visual>
    <collision>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        <geometry>
            <box size="0.49 0.02 0.05"/>
        </geometry>
    </collision>
</link>

<joint name="drawer_oven_right_board3_barrier_left_joint" type="fixed">
    <origin xyz="0 0.135 0.365"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="drawer_oven_right_board3_barrier_left_link"/>
</joint>



<!--
  <gazebo reference="drawer_oven_right_link">
    <material value="Ias/KitchenLightGray"/>
</gazebo>
-->
<!-- Joint handle to drawer -->
  <joint name="oven_area_area_right_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.05 0.0 0.0"/>
    <parent link="drawer_oven_right_front_link" />
    <child link="oven_area_area_right_drawer_handle" />
</joint>

  <link name="oven_area_area_right_drawer_handle">
      <inertial>
        <mass value="0.1"/>
        <inertia ixx="0.0127110416667" ixy="0" ixz="0" iyy="1.66666666667e-06" iyz="0" izz="0.0127110416667"/>
      </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 1.235"/>
      </geometry>
      <material name="KitchenDarkGray"/>
  </visual>

    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.015 0.015 1.24"/>
      </geometry>
  </collision>
  </link>
  <!--
  <gazebo reference="handle_drawer_oven_right_link">
    <material value="Ias/KitchenDarkGray"/>
</gazebo>
-->




<!-- This is the vertical drawer -->
<!--
  <link name="oven_area_area_right_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.dae"/>
      </geometry>
    </collision>
  </link>

  <link name="oven_area_area_right_drawer_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
      </geometry>
    </collision>
  </link>

  <joint name="oven_area_area_right_drawer_main_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0 0.45 0.06 "/>
    <parent link="oven_area_area"/>
    <child link="oven_area_area_right_drawer_main"/>
    <axis xyz="1. 0. 0.0"/>
    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
    
        <limit effort="300" lower="0" upper="0" velocity="10"/>
  
  </joint>

  <joint name="oven_area_area_right_drawer_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.3525 0 0"/>
    <parent link="oven_area_area_right_drawer_main"/>
    <child link="oven_area_area_right_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
</joint>
-->
  <link name="kitchen_island_footprint">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
  </link>
  <link name="kitchen_island">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/racks/IslandArea.dae"/>
      </geometry>
    </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="0.3325 0 0.11"/>
    <parent link="kitchen_island_left_upper_drawer_main"/>
    <child link="kitchen_island_left_upper_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="kitchen_island_left_lower_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
      </geometry>
    </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="0.3325 0 0.11"/>
    <parent link="kitchen_island_left_lower_drawer_main"/>
    <child link="kitchen_island_left_lower_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="kitchen_island_middle_panel">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_100.dae"/>
      </geometry>
    </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="0.3325 0 0.11"/>
    <parent link="kitchen_island_middle_upper_drawer_main"/>
    <child link="kitchen_island_middle_upper_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="kitchen_island_middle_lower_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
      </geometry>
    </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="0.3325 0 0.11"/>
    <parent link="kitchen_island_middle_lower_drawer_main"/>
    <child link="kitchen_island_middle_lower_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="kitchen_island_right_panel">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
      </geometry>
    </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="0.3325 0 0.11"/>
    <parent link="kitchen_island_right_upper_drawer_main"/>
    <child link="kitchen_island_right_upper_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="kitchen_island_right_lower_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
      </geometry>
    </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="0.3325 0 0.11"/>
    <parent link="kitchen_island_right_lower_drawer_main"/>
    <child link="kitchen_island_right_lower_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="fridge_area_footprint">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
  </link>
  <link name="fridge_area">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.01"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.01"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.dae"/>
        <!--mesh filename="package://iai_kitchen/meshes/collision/kitchen_fridge.stl"/-->
      </geometry>
    </collision>
  </link>
  <joint name="fridge_area_footprint_joint" type="fixed">
    <origin rpy="0 0 3.14159265359" xyz="1.825 -0.74 0"/>
    <child link="fridge_area_footprint"/>
    <parent link="room_link"/>
  </joint>
  <joint name="fridge_area_main_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.29 .3 0.74"/>
    <parent link="fridge_area_footprint"/>
    <child link="fridge_area"/>
  </joint>
  <link name="fridge_area_lower_drawer_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
      </geometry>
    </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="0.3325 0 0.11"/>
    <parent link="fridge_area_lower_drawer_main"/>
    <child link="fridge_area_lower_drawer_handle"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
  </joint>
  <link name="iai_fridge_main">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/Fridge.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/Fridge.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="iai_fridge_door">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="iai_fridge_door_handle">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="1"/>
      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="iai_fridge_main_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="fridge_area"/>
    <child link="iai_fridge_main"/>
  </joint>
  <joint name="iai_fridge_door_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.29 0.3 0.245"/>
    <parent link="iai_fridge_main"/>
    <child link="iai_fridge_door"/>
    <axis xyz="0 0 1"/>
    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
    <!--
      <limit lower="0" upper="0" effort="300" velocity="10"/>
-->
  </joint>
  <joint name="iai_fridge_door_handle_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.06 -0.57 0."/>
    <parent link="iai_fridge_door"/>
    <child link="iai_fridge_door_handle"/>
  </joint>
  <!-- LINKS -->
  <link name="table_area_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/big_table_1.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- JOINTS -->
  <joint name="table_area_main_joint" type="fixed">
    <origin rpy="0 0 3.14159265359" xyz="-1.4 -1.05 0"/>
    <parent link="room_link"/>
    <child link="table_area_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="3.27328 0.15 0.7"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.35"/>
      <geometry>
        <box size="3.27328 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>
  <!-- JOINTS -->
  <link name="kitchen_walls"/>
  <joint name="walls_main_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="-1 0.562175 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="-1.31385 -1.58376 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="0.247785 -2.00851 0"/>
    <parent link="kitchen_walls"/>
    <child link="kitchen_wall_6"/>
  </joint>
  <gazebo reference="kitchen_wall_6">
    <material>Gazebo/DarkGrey</material>
  </gazebo>


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

    <link name="particle1">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_hands_neem/meshes/dae/particle.dae" scale="2 2 2"/>
            </geometry>
        </visual>
    </link>
    <link name="particle2">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_hands_neem/meshes/dae/particle.dae" scale="2 2 2" />
            </geometry>
        </visual>
    </link>
    <link name="particle3">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_hands_neem/meshes/dae/particle.dae" scale="2 2 2" />
            </geometry>
        </visual>
    </link>
    <link name="particle4">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_hands_neem/meshes/dae/particle.dae" scale="2 2 2" />
            </geometry>
        </visual>
    </link>
    <link name="particle5">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_hands_neem/meshes/dae/particle.dae" scale="2 2 2" />
            </geometry>
        </visual>
    </link>
    <link name="particle6">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_hands_neem/meshes/dae/particle.dae" scale="2 2 2" />
            </geometry>
        </visual>
    </link>
    <link name="particle7">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_hands_neem/meshes/dae/particle.dae" scale="2 2 2" />
            </geometry>
        </visual>
    </link>
    <link name="particle8">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_hands_neem/meshes/dae/particle.dae" scale="2 2 2" />
            </geometry>
        </visual>
    </link>
    <link name="particle9">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_hands_neem/meshes/dae/particle.dae" scale="2 2 2" />
            </geometry>
        </visual>
    </link>
    <link name="particle10">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_hands_neem/meshes/dae/particle.dae" scale="2 2 2" />
            </geometry>
        </visual>
    </link>
    <link name="particle11">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_hands_neem/meshes/dae/particle.dae" scale="2 2 2" />
            </geometry>
        </visual>
    </link>
    <link name="particle12">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_hands_neem/meshes/dae/particle.dae" scale="2 2 2" />
            </geometry>
        </visual>
    </link>
    <link name="particle13">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://pouring_hands_neem/meshes/dae/particle.dae" scale="2 2 2" />
            </geometry>
        </visual>
    </link>

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

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

    <joint name="SK_GenesisLeftHand_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="SK_GenesisLeftHand"/>
    </joint>

    <joint name="SK_GenesisRightHand_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="SK_GenesisRightHand"/>
    </joint>

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

   <joint name="SM_BluePlasticBowl_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="SM_BluePlasticBowl"/>
    </joint>

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

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

    <joint name="particle2_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="particle2"/>
    </joint>
    <joint name="particle3_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="particle3"/>
    </joint>
    <joint name="particle4_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="particle4"/>
    </joint>
    <joint name="particle5_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="particle5"/>
    </joint>
    <joint name="particle6_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="particle6"/>
    </joint>
    <joint name="particle7_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="particle7"/>
    </joint>
    <joint name="particle8_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="particle8"/>
    </joint>
    <joint name="particle9_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="particle9"/>
    </joint>
    <joint name="particle10_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="particle10"/>
    </joint>
    <joint name="particle11_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="particle11"/>
    </joint>
    <joint name="particle12_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="particle12"/>
    </joint>
    <joint name="particle13_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="particle13"/>
    </joint>

    
  <!-- popcorn links and joints -->
  <link name="popcorn1">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://popcorn_pouring_hands_neem/meshes/obj/popcorn.obj" scale="1 1 1"/>
            </geometry>
        </visual>
  </link>
  <link name="popcorn2">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://popcorn_pouring_hands_neem/meshes/obj/popcorn.obj" scale="1 1 1"/>
            </geometry>
        </visual>
  </link>
  <link name="popcorn3">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://popcorn_pouring_hands_neem/meshes/obj/popcorn.obj" scale="1 1 1"/>
            </geometry>
        </visual>
  </link>
  <link name="popcorn4">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://popcorn_pouring_hands_neem/meshes/obj/popcorn.obj" scale="1 1 1"/>
            </geometry>
        </visual>
  </link>
  <link name="popcorn5">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://popcorn_pouring_hands_neem/meshes/obj/popcorn.obj" scale="1 1 1"/>
            </geometry>
        </visual>
  </link>
  <link name="popcorn6">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://popcorn_pouring_hands_neem/meshes/obj/popcorn.obj" scale="1 1 1"/>
            </geometry>
        </visual>
  </link>
  <link name="popcorn7">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://popcorn_pouring_hands_neem/meshes/obj/popcorn.obj" scale="1 1 1"/>
            </geometry>
        </visual>
  </link>
  <link name="popcorn8">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://popcorn_pouring_hands_neem/meshes/obj/popcorn.obj" scale="1 1 1"/>
            </geometry>
        </visual>
  </link>
  <link name="popcorn9">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://popcorn_pouring_hands_neem/meshes/obj/popcorn.obj" scale="1 1 1"/>
            </geometry>
        </visual>
  </link>
  <link name="popcorn10">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://popcorn_pouring_hands_neem/meshes/obj/popcorn.obj" scale="1 1 1"/>
            </geometry>
        </visual>
  </link>
  <link name="popcorn11">
        <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
            <geometry>
                <mesh filename="package://popcorn_pouring_hands_neem/meshes/obj/popcorn.obj" scale="1 1 1"/>
            </geometry>
        </visual>
  </link>
  <joint name="popcorn1_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="popcorn1"/>
  </joint>
  <joint name="popcorn2_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="popcorn2"/>
  </joint>
  <joint name="popcorn3_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="popcorn3"/>
  </joint>
  <joint name="popcorn4_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="popcorn4"/>
  </joint>
  <joint name="popcorn5_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="popcorn5"/>
  </joint>
  <joint name="popcorn6_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="popcorn6"/>
  </joint>
  <joint name="popcorn7_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="popcorn7"/>
  </joint>
  <joint name="popcorn8_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="popcorn8"/>
  </joint>
  <joint name="popcorn9_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="popcorn9"/>
  </joint>
  <joint name="popcorn10_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="popcorn10"/>
  </joint>
  <joint name="popcorn11_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="room_link"/>
        <child link="popcorn11"/>
  </joint>



  <!-- Included above already
  <iai_sink_area name="sink_area" parent="room_link">
    <origin xyz="-5.29 -5.65 0" rpy="0 0 0" />    
  </iai_sink_area>
  
  <iai_oven_area name="oven_area" parent="room_link">
    <origin xyz="-5.27 -6.85 0" rpy="0 0 0" />    
  </iai_oven_area>
  
  
  <iai_kitchen_island name="kitchen_island" parent="room_link">
    <origin xyz="-2.1 -4.94 0" rpy="0 0 ${pi}" />    
  </iai_kitchen_island>
  
  <iai_fridge_area name="fridge_area" parent="room_link">
    <origin xyz="-5.29 -3.59 0" rpy="0 0 0" />    
  </iai_fridge_area>
  -->
</robot>

