diff --git a/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro b/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro
index e54f860..334a263 100644
--- a/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro
+++ b/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro
@@ -2,9 +2,9 @@
 
 <robot name="iai_kitchen_wall_robohow" xmlns:xacro="http://ros.org/wiki/xacro">
 
-  <macro name="iai_kitchen_wall_robohow" params="parent *origin">
+  <macro name="iai_kitchen_wall_robohow" params="parent *origin include_wall_7:=true">
     <!-- LINKS -->
-    
+
     <link name="kitchen_wall_1">
       <sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -20,7 +20,7 @@
         </geometry>
       </collision>
     </link>
-      
+
     <link name="kitchen_wall_2">
       <sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -36,7 +36,7 @@
         </geometry>
       </collision>
     </link>
-      
+
     <link name="kitchen_wall_3">
       <sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -52,7 +52,7 @@
         </geometry>
       </collision>
     </link>
-      
+
     <link name="kitchen_wall_4">
       <sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -68,7 +68,7 @@
         </geometry>
       </collision>
     </link>
-      
+
     <link name="kitchen_wall_5">
       <sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -84,9 +84,9 @@
         </geometry>
       </collision>
     </link>
-    
-    
-    
+
+
+
     <link name="kitchen_wall_6">
       <sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -101,8 +101,9 @@
             <box size="1 0.15 0.7" />
         </geometry>
       </collision>
-    </link>   
+    </link>
 
+<xacro:if value="${include_wall_7 == 'true'}">
     <link name="kitchen_wall_7">
       <sphere_inertia radius="0" mass="0"/>
       <visual>
@@ -118,67 +119,69 @@
         </geometry>
       </collision>
     </link>
-    
+
+  </xacro:if>
+
     <!-- JOINTS -->
-    
+
     <link name="kitchen_walls"/>
-        
+
     <joint name="walls_main_joint" type="fixed">
         <xacro:insert_block name="origin" />
       <parent link="${parent}"/>
       <child link="kitchen_walls"/>
     </joint>
-    
+
     <joint name="wall_1_joint" type="fixed">
         <origin xyz="2.38151 -2.516 0" rpy="0 -0 3.14159" />
       <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 xyz="2.87551 0 0" rpy="0 -0 1.5708" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_2"/>
     </joint>
-    
+
     <joint name="wall_3_joint" type="fixed">
         <origin xyz="0 2.516 0" rpy="0 -0 3.14159" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_3"/>
     </joint>
-    
+
     <joint name="wall_4_joint" type="fixed">
         <origin xyz="-2.87549 0.466 0" rpy="0 0 -1.5708" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_4"/>
     </joint>
-    
+
     <joint name="wall_5_joint" type="fixed">
         <origin xyz="-1.81385 -1.70376 0" rpy="0 -0 0.000157" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_5"/>
     </joint>
-    
+
     <joint name="wall_6_joint" type="fixed">
       <origin xyz="-0.65 -2.12851 0" rpy="0 0 -1.5708" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_6"/>
     </joint>
-
+<xacro:if value="${include_wall_7 == 'true'}">
     <joint name="wall_7_joint" type="fixed">
       <origin xyz="1.01271 -2.556 0" rpy="0 -0 3.14159" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_7"/>
     </joint>
-
+</xacro:if>
     <gazebo reference="kitchen_wall_6">
         <material>Gazebo/DarkGrey</material>
     </gazebo>
   </macro>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro b/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro
new file mode 100644
index 0000000..a4a5c73
--- /dev/null
+++ b/iai_kitchen/urdf_obj/IAI_popcorn_table.urdf.xacro
@@ -0,0 +1,483 @@
+<?xml version="1.0"?>
+
+<robot name="iai_popcorn_table" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <macro name="iai_popcorn_table" params="name parent *origin">
+
+    <link name="${name}_footprint"/>
+
+    <joint name="${name}_footprint_joint" type="fixed">
+      <xacro:insert_block name="origin"/>
+      <parent link="${parent}"/>
+      <child link="${name}_footprint"/>
+    </joint>
+
+    <link name="${name}_front_left_leg">
+      <visual>
+        <geometry>
+          <box size="0.06 0.06 0.69"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.06 0.06 0.69"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_front_right_leg">
+      <visual>
+        <geometry>
+          <box size="0.06 0.06 0.69"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.06 0.06 0.69"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_back_left_leg">
+      <visual>
+        <geometry>
+          <box size="0.06 0.06 0.69"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.06 0.06 0.69"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_back_right_leg">
+      <visual>
+        <geometry>
+          <box size="0.06 0.06 0.69"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.06 0.06 0.69"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_left_panel">
+      <visual>
+        <geometry>
+          <box size="0.01 0.54 0.69"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.01 0.54 0.69"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_right_panel">
+      <visual>
+        <geometry>
+          <box size="0.01 0.54 0.69"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.01 0.54 0.69"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_front_panel">
+      <visual>
+        <geometry>
+          <box size="1.56 0.01 0.69"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="1.56 0.01 0.69"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_surface">
+      <visual>
+        <geometry>
+          <box size="1.75 0.64 0.025"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="1.75 0.64 0.025"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_stove">
+      <visual>
+        <geometry>
+          <box size="0.59 0.52 0.01"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.59 0.52 0.01"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_left_wall">
+      <visual>
+        <geometry>
+          <box size="0.02 0.54 0.69"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.02 0.54 0.69"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_right_wall">
+      <visual>
+        <geometry>
+          <box size="0.02 0.54 0.69"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.02 0.54 0.69"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_right_grid">
+      <visual>
+        <geometry>
+          <box size="0.5 0.5 0.015"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.5 0.5 0.015"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_left_grid">
+      <visual>
+        <geometry>
+          <box size="0.5 0.5 0.015"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.5 0.5 0.015"/>
+        </geometry>
+      </collision>
+    </link>
+
+
+
+
+
+    <joint name="${name}_front_left_leg_joint" type="fixed">
+      <origin xyz="-0.81 -0.27 0.345"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_front_left_leg"/>
+    </joint>
+
+    <joint name="${name}_front_right_leg_joint" type="fixed">
+      <origin xyz="0.81 -0.27 0.345"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_front_right_leg"/>
+    </joint>
+
+    <joint name="${name}_back_left_leg_joint" type="fixed">
+      <origin xyz="-0.81 0.27 0.345"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_back_left_leg"/>
+    </joint>
+
+    <joint name="${name}_back_right_leg_joint" type="fixed">
+      <origin xyz="0.81 0.27 0.345"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_back_right_leg"/>
+    </joint>
+
+    <joint name="${name}_surface_joint" type="fixed">
+      <origin xyz="0 0 0.7"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_surface"/>
+    </joint>
+
+    <joint name="${name}_stove_joint" type="fixed">
+      <origin xyz="0 0.04 0.71"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_stove"/>
+    </joint>
+
+    <joint name="${name}_left_panel_joint" type="fixed">
+      <origin xyz="-0.81 0 0.35"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_left_panel"/>
+    </joint>
+
+    <joint name="${name}_right_panel_joint" type="fixed">
+      <origin xyz="0.81 0 0.35"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_right_panel"/>
+    </joint>
+
+    <joint name="${name}_front_panel_joint" type="fixed">
+      <origin xyz="0 -0.27 0.35"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_front_panel"/>
+    </joint>
+
+    <joint name="${name}_left_wall_joint" type="fixed">
+      <origin xyz="-0.31 0 0.35"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_left_wall"/>
+    </joint>
+
+    <joint name="${name}_right_wall_joint" type="fixed">
+      <origin xyz="0.31 0 0.35"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_right_wall"/>
+    </joint>
+
+    <joint name="${name}_right_grid_joint" type="fixed">
+      <origin xyz="-0.55 0 0.18"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_right_grid"/>
+    </joint>
+
+    <joint name="${name}_left_grid_joint" type="fixed">
+      <origin xyz="0.55 0 0.18"/>
+      <parent link="${name}_footprint"/>
+      <child link="${name}_left_grid"/>
+    </joint>
+
+    <iai_popcorn_table_drawer name="iai_popcorn_table_drawer_left" parent="${name}_footprint">
+      <origin xyz="0.555 0 0.53" rpy="0 0 ${0.5 * pi}"/>
+    </iai_popcorn_table_drawer>
+
+    <iai_popcorn_table_drawer name="iai_popcorn_table_drawer_right" parent="${name}_footprint">
+      <origin xyz="-0.555 0 0.53" rpy="0 0 ${0.5 * pi}"/>
+    </iai_popcorn_table_drawer>
+
+    <iai_popcorn_stove_knob name="iai_popcorn_stove_knob_1" parent="${name}_stove">
+      <origin xyz="-0.235 0.22 0.01"/>
+    </iai_popcorn_stove_knob>
+
+    <iai_popcorn_stove_knob name="iai_popcorn_stove_knob_2" parent="${name}_stove">
+      <origin xyz="-0.235 0.17 0.01"/>
+    </iai_popcorn_stove_knob>
+
+    <iai_popcorn_stove_knob name="iai_popcorn_stove_knob_3" parent="${name}_stove">
+      <origin xyz="-0.235 0.12 0.01"/>
+    </iai_popcorn_stove_knob>
+
+  </macro>
+
+  <macro name="iai_popcorn_table_drawer" params="name parent *origin">
+
+  <joint name="${name}_table_joint" type="prismatic">
+        <parent link="${parent}"/>
+        <child link="${name}_main"/>
+        <limit effort="1000.0" lower="0" upper="0.4" velocity="0.5"/>
+        <axis xyz="1 0 0 "/>
+        <xacro:insert_block name="origin"/>
+  </joint>
+
+  <link name="${name}_main">
+    <visual>
+      <geometry>
+        <box size="0.52 0.42 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.52 0.42 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="${name}_right_side">
+    <visual>
+      <geometry>
+        <box size="0.52 0.01  0.13"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.52 0.01 0.13"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="${name}_left_side">
+    <visual>
+      <geometry>
+        <box size="0.52 0.01 0.13"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size=" 0.52 0.01 0.13"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="${name}_back_side">
+    <visual>
+      <geometry>
+        <box size="0.01 0.42  0.13"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.01 0.42 0.13"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="${name}_front_side">
+    <visual>
+      <geometry>
+        <box size="0.01 0.46  0.13"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.01 0.46 0.15"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="${name}_right_side_joint" type="fixed">
+    <origin xyz="0 0.205 0.065"/>
+    <parent link="${name}_main"/>
+    <child link="${name}_right_side"/>
+  </joint>
+
+  <joint name="${name}_left_side_joint" type="fixed">
+    <origin xyz="0 -0.205 0.065" />
+    <parent link="${name}_main"/>
+    <child link="${name}_left_side"/>
+  </joint>
+
+  <joint name="${name}_back_side_joint" type="fixed">
+    <origin xyz=" -0.255 0 0.065" />
+    <parent link="${name}_main"/>
+    <child link="${name}_back_side"/>
+  </joint>
+
+  <joint name="${name}_front_side_joint" type="fixed">
+    <origin xyz=" 0.255 0 0.075" />
+    <parent link="${name}_main"/>
+    <child link="${name}_front_side"/>
+  </joint>
+
+  <iai_popcorn_table_drawer_handle name="${name}_handle" parent="${name}_front_side">
+    <origin xyz="0.03 0 0"/>
+  </iai_popcorn_table_drawer_handle>
+
+  </macro>
+
+  <macro name="iai_popcorn_table_drawer_handle" params="name parent *origin">
+
+  <link name="${name}_left_part">
+    <visual>
+      <geometry>
+        <box size="0.03 0.01 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.03 0.01  0.01"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="${name}_right_part">
+    <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="${name}_middle_part">
+    <visual>
+      <geometry>
+        <box size="0.01 0.3 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.01 0.3 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="${name}_left_middle_joint" type="fixed">
+    <origin xyz="-0.01 -0.15  0"/>
+    <parent link="${name}_middle_part"/>
+    <child link="${name}_left_part"/>
+  </joint>
+
+  <joint name="${name}_right_middle_joint" type="fixed">
+    <origin xyz="-0.01 0.15  0"/>
+    <parent link="${name}_middle_part"/>
+    <child link="${name}_right_part"/>
+  </joint>
+
+  <joint name="${name}_middle_drawer_joint" type="fixed">
+    <xacro:insert_block name="origin"/>
+    <parent link="${parent}"/>
+    <child link="${name}_middle_part"/>
+  </joint>
+
+  </macro>
+
+  <macro name="iai_popcorn_stove_knob" params="name parent *origin">
+
+  <link name="${name}">
+
+    <sphere_inertia radius="0" mass="0"/>
+    <visual>
+    <origin xyz="0 0 0" rpy="0 ${1.5 * pi} ${0.5 * pi}" />
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+    <origin xyz="0 0 0" rpy="0 ${1.5 * pi} ${0.5 * pi}" />
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="${name}_joint" type="revolute">
+    <xacro:insert_block name="origin"/>
+    <parent link="${parent}"/>
+    <child link="${name}"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-${pi}" upper="0" effort="300" velocity="10"/>
+  </joint>
+
+  </macro>
+
+</robot>
diff --git a/iai_kitchen/urdf_obj/iai_kitchen_popcorn_python.urdf.xacro b/iai_kitchen/urdf_obj/iai_kitchen_popcorn_python.urdf.xacro
new file mode 100644
index 0000000..5a1dd9c
--- /dev/null
+++ b/iai_kitchen/urdf_obj/iai_kitchen_popcorn_python.urdf.xacro
@@ -0,0 +1,99 @@
+<?xml version="1.0"?>
+
+<robot name="iai_oven_area" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:property name="pi" value="3.1415926535897931" />
+  <xacro:property name="simulated" value="true" />
+  <xacro:property name="include_wall_7" value="false"/>
+
+  <macro name="sphere_inertia" params="radius mass">
+        <inertial>
+          <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+          <mass value="1"/>
+          <inertia
+              ixx="1" ixy="0.0" ixz="0.0"
+              iyy="1" iyz="0.0"
+              izz="1"/>
+        </inertial>
+
+  </macro>
+
+  <link name="room_link">
+
+      <sphere_inertia radius="0" mass="0"/>
+  </link>
+  <xacro:if value="${simulated}">
+    <link name="world"/>
+    <joint name="world_room_joint" type="fixed">
+        <origin xyz="0.0 0.03 0 " rpy="0 0 0" />
+        <parent link="world"/>
+        <child link="room_link"/>
+      </joint>
+
+  </xacro:if>
+
+  <gazebo>
+      <static>false</static>
+  </gazebo>
+  <!--- FIXME THIS should NOT be here -->
+  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_oven_area.urdf.xacro"/>
+  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_kitchen_island.urdf.xacro"/>
+  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_sink_area.urdf.xacro"/>
+  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_fridge_area.urdf.xacro"/>
+  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_tables.urdf.xacro"/>
+  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_kitchen_walls.urdf.xacro"/>
+  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_popcorn_table.urdf.xacro"/>
+
+  <iai_sink_area name="sink_area" parent="room_link">
+    <origin xyz="1.855 1.3 0" rpy="0 0 ${pi}" />
+  </iai_sink_area>
+
+  <iai_oven_area name="oven_area" parent="room_link">
+    <origin xyz="1.855 2.47 0" rpy="0 0 ${pi}" />
+  </iai_oven_area>
+
+
+  <iai_kitchen_island name="kitchen_island" parent="room_link">
+    <origin xyz="-1.365 0.59 0" rpy="0 0 0" />
+  </iai_kitchen_island>
+
+  <iai_fridge_area name="fridge_area" parent="room_link">
+    <origin xyz="1.845 -0.73 0" rpy="0 0 ${pi}" />
+  </iai_fridge_area>
+
+
+  <iai_table_1 name="table_area" parent="room_link">
+    <origin xyz="-2.4 -1.5 0" rpy="0 0 ${pi}" />
+  </iai_table_1>
+
+
+  <iai_kitchen_wall_robohow parent="room_link" include_wall_7="${include_wall_7}">
+    <origin xyz="-0.96 0.65 0" rpy="0.0 0.0 0.0" />
+  </iai_kitchen_wall_robohow>
+
+  <iai_popcorn_table name="iai_popcorn_table" parent="room_link">
+    <origin xyz="-0.05 -1.7 0"/>
+  </iai_popcorn_table>
+
+
+
+  <!-- Included above already
+  <iai_sink_area name="sink_area" parent="room_link">
+    <origin xyz="-5.29 -5.65 0" rpy="0 0 0" />
+  </iai_sink_area>
+
+  <iai_oven_area name="oven_area" parent="room_link">
+    <origin xyz="-5.27 -6.85 0" rpy="0 0 0" />
+  </iai_oven_area>
+
+
+  <iai_kitchen_island name="kitchen_island" parent="room_link">
+    <origin xyz="-2.1 -4.94 0" rpy="0 0 ${pi}" />
+  </iai_kitchen_island>
+
+  <iai_fridge_area name="fridge_area" parent="room_link">
+    <origin xyz="-5.29 -3.59 0" rpy="0 0 0" />
+  </iai_fridge_area>
+  -->
+
+</robot>
diff --git a/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro b/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro
index 0ce0274..bb1028c 100644
--- a/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro
+++ b/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro
@@ -4,33 +4,33 @@
 
   <xacro:property name="pi" value="3.1415926535897931" />
   <xacro:property name="simulated" value="true" />
-  
+
   <macro name="sphere_inertia" params="radius mass">
         <inertial>
           <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
           <mass value="1"/>
-          <inertia 
-              ixx="1" ixy="0.0" ixz="0.0" 
-              iyy="1" iyz="0.0" 
+          <inertia
+              ixx="1" ixy="0.0" ixz="0.0"
+              iyy="1" iyz="0.0"
               izz="1"/>
         </inertial>
-    
+
   </macro>
-  
-  <link name="room_link">    
-    
+
+  <link name="room_link">
+
       <sphere_inertia radius="0" mass="0"/>
   </link>
   <xacro:if value="${simulated}">
-    <link name="world"/> 
+    <link name="world"/>
     <joint name="world_room_joint" type="fixed">
         <origin xyz="0.0 0.03 0 " rpy="0 0 0" />
         <parent link="world"/>
         <child link="room_link"/>
-      </joint>   
-      
+      </joint>
+
   </xacro:if>
-  
+
   <gazebo>
       <static>false</static>
   </gazebo>
@@ -41,53 +41,53 @@
   <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_fridge_area.urdf.xacro"/>
   <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_tables.urdf.xacro"/>
   <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_kitchen_walls.urdf.xacro"/>
-  
+
   <iai_sink_area name="sink_area" parent="room_link">
-    <origin xyz="1.855 1.3 0" rpy="0 0 ${pi}" />    
+    <origin xyz="1.855 1.3 0" rpy="0 0 ${pi}" />
   </iai_sink_area>
-  
+
   <iai_oven_area name="oven_area" parent="room_link">
-    <origin xyz="1.855 2.47 0" rpy="0 0 ${pi}" />    
+    <origin xyz="1.855 2.47 0" rpy="0 0 ${pi}" />
   </iai_oven_area>
-  
-  
+
+
   <iai_kitchen_island name="kitchen_island" parent="room_link">
-    <origin xyz="-1.365 0.59 0" rpy="0 0 0" />    
+    <origin xyz="-1.365 0.59 0" rpy="0 0 0" />
   </iai_kitchen_island>
-  
+
   <iai_fridge_area name="fridge_area" parent="room_link">
-    <origin xyz="1.845 -0.73 0" rpy="0 0 ${pi}" />    
+    <origin xyz="1.845 -0.73 0" rpy="0 0 ${pi}" />
   </iai_fridge_area>
-  
-  
+
+
   <iai_table_1 name="table_area" parent="room_link">
     <origin xyz="-2.4 -1.5 0" rpy="0 0 ${pi}" />
   </iai_table_1>
-  
-  
+
+
   <iai_kitchen_wall_robohow parent="room_link">
-    <origin xyz="-0.96 0.65 0" rpy="0.0 0.0 0.0" />    
+    <origin xyz="-0.96 0.65 0" rpy="0.0 0.0 0.0" />
   </iai_kitchen_wall_robohow>
- 
+
 
 
   <!-- Included above already
   <iai_sink_area name="sink_area" parent="room_link">
-    <origin xyz="-5.29 -5.65 0" rpy="0 0 0" />    
+    <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" />    
+    <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}" />    
+    <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" />    
+    <origin xyz="-5.29 -3.59 0" rpy="0 0 0" />
   </iai_fridge_area>
   -->
- 
+
 </robot>