diff --git a/iai_kitchen/meshes/jokkmokk/JokkmokkChair.mtl b/iai_kitchen/meshes/jokkmokk/JokkmokkChair.mtl
index f231bdf..da9c5df 100644
--- a/iai_kitchen/meshes/jokkmokk/JokkmokkChair.mtl
+++ b/iai_kitchen/meshes/jokkmokk/JokkmokkChair.mtl
@@ -2,9 +2,11 @@
 # Material Count: 1
 
 newmtl None
-Ns 500
-Ka 0.8 0.8 0.8
-Kd 0.8 0.8 0.8
-Ks 0.8 0.8 0.8
-d 1
+Ns 500.000001
+Ka 1.000000 1.000000 1.000000
+Kd 0.346704 0.158961 0.099899
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
 illum 2
diff --git a/iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj b/iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj
index 0dea2f0..8aa38cf 100644
--- a/iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj
+++ b/iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj
@@ -1,30 +1,30 @@
-# Blender v2.83.4 OBJ File: ''
+# Blender v2.91.0 OBJ File: ''
 # www.blender.org
-mtllib chair.mtl
+mtllib JokkmokkChair.mtl
 o JokkmokkChair_hull_1
+v -0.237477 -0.181786 -0.551643
+v -0.194174 -0.180238 -0.081279
+v -0.174062 -0.180238 -0.019377
 v -0.276163 -0.223564 -0.542314
-v -0.174062 -0.180238 -0.002337
 v -0.174062 -0.223564 -0.002337
-v -0.226641 -0.181786 -0.000828
-v -0.237477 -0.181786 -0.551643
 v -0.226641 -0.223564 -0.000828
 v -0.235938 -0.223564 -0.545442
-v -0.276173 -0.181786 -0.551643
+v -0.174062 -0.180238 -0.002337
 v -0.174062 -0.191069 -0.081279
 v -0.175601 -0.223564 -0.087481
+v -0.226641 -0.181786 -0.000828
 v -0.226641 -0.180238 -0.002337
-v -0.175601 -0.181786 -0.087427
 v -0.276163 -0.223564 -0.551643
+v -0.276173 -0.181786 -0.551643
 v -0.276173 -0.181786 -0.542314
 v -0.234379 -0.181786 -0.534603
+v -0.175601 -0.181786 -0.087427
 v -0.174062 -0.217372 -0.081279
 v -0.220464 -0.180238 -0.081279
 v -0.237477 -0.223564 -0.551643
 v -0.175601 -0.181786 -0.000828
 v -0.175601 -0.223564 -0.000828
-v -0.194174 -0.180238 -0.081279
 v -0.234379 -0.223564 -0.534603
-v -0.174062 -0.180238 -0.019377
 vt 0.000000 0.378953
 vt 0.853940 0.803035
 vt 0.966324 1.000000
@@ -49,93 +49,99 @@ vt 1.000000 0.984924
 vt 1.000000 0.984924
 vt 0.030935 0.409300
 vn 0.0141 0.9999 -0.0046
-vn -0.0000 -1.0000 0.0000
-vn 1.0000 0.0000 -0.0000
-vn 0.0000 0.6982 0.7159
+vn -0.0000 -1.0000 -0.0000
+vn 1.0000 0.0000 0.0000
+vn -0.0000 0.6984 0.7157
+vn 0.0000 0.6980 0.7161
 vn 0.0000 0.0000 -1.0000
 vn -1.0000 -0.0002 0.0000
 vn -0.9958 -0.0002 0.0911
-vn -0.9958 0.0000 0.0911
-vn -0.9919 0.0885 0.0907
+vn -0.9958 -0.0000 0.0911
+vn -0.9919 0.0884 0.0907
 vn -0.0312 0.9995 0.0000
 vn 0.9838 0.0097 -0.1789
-vn 0.9885 0.0779 -0.1299
-vn 0.9743 -0.2246 -0.0176
+vn 0.9885 0.0778 -0.1299
+vn 0.9743 -0.2245 -0.0176
+vn 0.9903 0.0000 -0.1387
 vn 0.9913 0.0000 -0.1319
 vn 0.0000 1.0000 -0.0033
+vn 0.0000 1.0000 -0.0017
 vn 0.0000 1.0000 0.0000
 vn -0.0167 0.9999 -0.0013
-vn 0.9705 0.0000 -0.2409
-vn 0.7002 0.0000 0.7139
-vn 0.0000 0.0000 1.0000
+vn 0.9706 0.0000 -0.2409
+vn 0.7001 0.0000 0.7140
+vn -0.0000 0.6983 0.7158
+vn 0.0000 -0.0000 1.0000
+vn -0.0000 1.0000 0.0001
 vn 0.9898 0.0000 -0.1424
-vn 0.9849 -0.1152 -0.1295
+vn 0.9905 0.0000 -0.1372
+vn 0.9849 -0.1151 -0.1295
 vn 0.9888 0.1469 -0.0257
-vn 0.0463 0.9989 -0.0084
+vn 0.0464 0.9989 -0.0084
 vn 0.2045 0.9785 -0.0269
 usemtl None
-s off
-f 5/1/1 21/2/1 23/3/1
-f 1/4/2 3/5/2 6/6/2
-f 3/5/2 1/4/2 7/7/2
-f 2/8/3 3/5/3 9/9/3
-f 3/5/2 7/7/2 10/10/2
-f 4/11/4 2/8/4 11/12/4
-f 7/7/2 1/4/2 13/13/2
-f 8/14/5 5/1/5 13/13/5
-f 1/4/6 8/14/6 13/13/6
-f 1/4/7 6/6/7 14/15/7
-f 6/6/8 4/11/8 14/15/8
-f 8/14/6 1/4/6 14/15/6
-f 4/11/9 11/12/9 14/15/9
-f 11/12/10 8/14/10 14/15/10
-f 7/7/11 5/1/11 15/16/11
-f 12/17/12 9/9/12 15/16/12
-f 9/9/3 3/5/3 16/18/3
-f 3/5/13 10/10/13 16/18/13
-f 15/16/14 9/9/14 16/18/14
-f 5/1/15 8/14/15 17/19/15
-f 11/12/16 2/8/16 17/19/16
-f 8/14/17 11/12/17 17/19/17
-f 5/1/18 7/7/18 18/20/18
-f 7/7/2 13/13/2 18/20/2
-f 13/13/5 5/1/5 18/20/5
-f 3/5/19 2/8/19 19/21/19
-f 2/8/4 4/11/4 19/21/4
-f 4/11/20 6/6/20 19/21/20
-f 19/21/20 6/6/20 20/22/20
-f 6/6/2 3/5/2 20/22/2
-f 3/5/19 19/21/19 20/22/19
-f 17/19/16 2/8/16 21/2/16
-f 5/1/15 17/19/15 21/2/15
-f 10/10/2 7/7/2 22/23/2
-f 7/7/21 15/16/21 22/23/21
-f 16/18/22 10/10/22 22/23/22
-f 15/16/14 16/18/14 22/23/14
-f 2/8/3 9/9/3 23/3/3
-f 9/9/23 12/17/23 23/3/23
-f 15/16/24 5/1/24 23/3/24
-f 12/17/25 15/16/25 23/3/25
-f 21/2/16 2/8/16 23/3/16
+s 1
+f 1/1/1 2/2/1 3/3/1
+f 4/4/2 5/5/2 6/6/2
+f 5/5/2 4/4/2 7/7/2
+f 8/8/3 5/5/3 9/9/3
+f 5/5/2 7/7/2 10/10/2
+f 11/11/4 8/8/5 12/12/5
+f 7/7/2 4/4/2 13/13/2
+f 14/14/6 1/1/6 13/13/6
+f 4/4/7 14/14/7 13/13/7
+f 4/4/8 6/6/9 15/15/8
+f 6/6/9 11/11/9 15/15/8
+f 14/14/7 4/4/7 15/15/7
+f 11/11/10 12/12/10 15/15/10
+f 12/12/11 14/14/11 15/15/11
+f 7/7/12 1/1/12 16/16/12
+f 17/17/13 9/9/13 16/16/13
+f 9/9/3 5/5/3 18/18/3
+f 5/5/14 10/10/14 18/18/14
+f 16/16/15 9/9/16 18/18/16
+f 1/1/17 14/14/17 19/19/18
+f 12/12/19 8/8/19 19/19/18
+f 14/14/20 12/12/20 19/19/20
+f 1/1/21 7/7/21 20/20/21
+f 7/7/2 13/13/2 20/20/2
+f 13/13/6 1/1/6 20/20/6
+f 5/5/22 8/8/22 21/21/22
+f 8/8/5 11/11/4 21/21/23
+f 11/11/24 6/6/24 21/21/24
+f 21/21/24 6/6/24 22/22/24
+f 6/6/2 5/5/2 22/22/2
+f 5/5/22 21/21/22 22/22/22
+f 19/19/18 8/8/19 2/2/25
+f 1/1/17 19/19/18 2/2/25
+f 10/10/2 7/7/2 23/23/2
+f 7/7/26 16/16/15 23/23/27
+f 18/18/28 10/10/28 23/23/28
+f 16/16/15 18/18/16 23/23/27
+f 8/8/3 9/9/3 3/3/3
+f 9/9/29 17/17/29 3/3/29
+f 16/16/30 1/1/30 3/3/30
+f 17/17/31 16/16/31 3/3/31
+f 2/2/25 8/8/19 3/3/19
 o JokkmokkChair_hull_2
+v -0.175592 -0.181786 -0.000774
+v -0.211181 -0.180238 0.169504
+v -0.186429 -0.180238 0.169504
 v -0.226656 -0.223560 0.551643
-v -0.175592 -0.181786 0.007013
-v -0.180236 -0.181786 0.160204
 v -0.226656 -0.181786 -0.000774
+v -0.226656 -0.223564 -0.000774
 v -0.175592 -0.223564 -0.000774
 v -0.192617 -0.181786 0.551589
-v -0.226656 -0.223564 -0.000774
 v -0.192622 -0.223560 0.551643
 v -0.226656 -0.181786 0.551589
-v -0.186429 -0.180238 0.234501
 v -0.218914 -0.180238 0.539206
-v -0.211181 -0.180238 0.169504
+v -0.186429 -0.180238 0.234501
 v -0.191067 -0.223560 0.516008
-v -0.175592 -0.181786 -0.000774
+v -0.175592 -0.181786 0.007013
+v -0.180236 -0.181786 0.160204
 v -0.194166 -0.180238 0.539206
 v -0.191072 -0.181786 0.516008
 v -0.175592 -0.223564 0.007013
-v -0.186429 -0.180238 0.169504
 vt 0.000000 1.000000
 vt 0.308242 0.303054
 vt 0.308242 0.787784
@@ -155,73 +161,79 @@ vt 0.977486 0.636257
 vt 0.935493 0.696848
 vt 0.014095 1.000000
 vn 0.0000 1.0000 -0.0091
+vn 0.0000 1.0000 -0.0046
 vn -1.0000 0.0000 0.0000
-vn -0.0000 0.0000 -1.0000
+vn 0.0000 0.0000 -1.0000
 vn 0.0000 0.0013 1.0000
 vn -0.1961 0.9806 0.0000
 vn 0.0000 0.9923 0.1240
-vn -0.0810 0.9967 -0.0017
+vn -0.0811 0.9967 -0.0017
 vn 0.0000 1.0000 0.0000
+vn 0.9991 0.0000 0.0435
 vn 0.9990 -0.0001 0.0436
+vn 0.9993 -0.0064 0.0359
 vn 1.0000 0.0000 0.0000
 vn 0.1414 0.9900 0.0000
-vn 0.5353 0.8445 0.0162
+vn 0.5415 0.8406 0.0165
+vn 0.5351 0.8446 0.0162
+vn 0.5378 0.8429 0.0163
 vn 0.2925 0.9562 0.0074
 vn 0.9995 0.0001 0.0304
-vn 0.9991 0.0001 0.0434
-vn 0.5440 0.8390 0.0166
-vn 0.5955 0.8029 0.0259
+vn 0.9993 0.0001 0.0369
+vn 0.5440 0.8389 0.0166
+vn 0.5956 0.8029 0.0259
 vn 0.9995 0.0000 0.0303
+vn 0.9995 -0.0001 0.0303
 vn -0.0000 -1.0000 0.0000
-vn 0.9995 -0.0003 0.0304
+vn 0.0003 -1.0000 -0.0000
 vn 0.0006 -1.0000 0.0000
 usemtl None
-s off
-f 37/24/26 35/25/26 41/26/26
-f 24/27/27 27/28/27 30/29/27
-f 27/28/28 28/30/28 30/29/28
-f 29/31/29 24/27/29 31/32/29
-f 27/28/27 24/27/27 32/33/27
-f 24/27/29 29/31/29 32/33/29
-f 27/28/30 32/33/30 34/34/30
-f 32/33/31 29/31/31 34/34/31
-f 27/28/32 34/34/32 35/25/32
-f 34/34/33 33/35/33 35/25/33
-f 29/31/34 31/32/34 36/36/34
-f 28/30/28 27/28/28 37/24/28
-f 25/37/35 28/30/35 37/24/35
-f 33/35/36 25/37/36 37/24/36
-f 27/28/26 35/25/26 37/24/26
-f 26/38/37 25/37/37 38/39/37
-f 25/37/38 33/35/38 38/39/38
-f 33/35/33 34/34/33 38/39/33
-f 34/34/31 29/31/31 38/39/31
-f 36/36/39 26/38/39 39/40/39
-f 29/31/40 36/36/40 39/40/40
-f 26/38/41 38/39/41 39/40/41
-f 38/39/42 29/31/42 39/40/42
-f 25/37/43 26/38/43 40/41/43
-f 28/30/35 25/37/35 40/41/35
-f 24/27/44 30/29/44 40/41/44
-f 30/29/44 28/30/44 40/41/44
-f 31/32/44 24/27/44 40/41/44
-f 26/38/45 36/36/45 40/41/45
-f 36/36/46 31/32/46 40/41/46
-f 35/25/33 33/35/33 41/26/33
-f 33/35/36 37/24/36 41/26/36
+s 1
+f 24/24/32 25/25/33 26/26/33
+f 27/27/34 28/28/34 29/29/34
+f 28/28/35 30/30/35 29/29/35
+f 31/31/36 27/27/36 32/32/36
+f 28/28/34 27/27/34 33/33/34
+f 27/27/36 31/31/36 33/33/36
+f 28/28/37 33/33/37 34/34/37
+f 33/33/38 31/31/38 34/34/38
+f 28/28/39 34/34/39 25/25/39
+f 34/34/40 35/35/40 25/25/33
+f 31/31/41 32/32/42 36/36/43
+f 30/30/35 28/28/35 24/24/35
+f 37/37/44 30/30/44 24/24/44
+f 35/35/45 37/37/45 24/24/45
+f 28/28/32 25/25/33 24/24/32
+f 38/38/46 37/37/47 39/39/48
+f 37/37/49 35/35/49 39/39/49
+f 35/35/40 34/34/40 39/39/40
+f 34/34/38 31/31/38 39/39/38
+f 36/36/43 38/38/50 40/40/51
+f 31/31/41 36/36/43 40/40/51
+f 38/38/46 39/39/48 40/40/52
+f 39/39/53 31/31/53 40/40/53
+f 37/37/54 38/38/50 41/41/55
+f 30/30/44 37/37/44 41/41/44
+f 27/27/56 29/29/56 41/41/56
+f 29/29/56 30/30/56 41/41/56
+f 32/32/57 27/27/56 41/41/56
+f 38/38/50 36/36/43 41/41/55
+f 36/36/58 32/32/57 41/41/56
+f 25/25/33 35/35/40 26/26/33
+f 35/35/45 24/24/45 26/26/45
 o JokkmokkChair_hull_3
-v -0.220462 -0.180237 -0.081238
+v -0.226651 -0.180237 -0.002321
+v -0.226651 0.180303 -0.019347
+v -0.226651 -0.180237 -0.019347
 v -0.174045 0.180303 -0.002321
 v -0.174045 0.180303 -0.019347
 v -0.226651 0.180303 -0.002321
 v -0.174045 -0.180237 -0.002321
 v -0.194174 0.180303 -0.081238
-v -0.226651 -0.180237 -0.002321
+v -0.220462 -0.180237 -0.081238
 v -0.194174 -0.180237 -0.081238
 v -0.220461 0.180303 -0.081238
 v -0.174045 -0.180237 -0.019347
-v -0.226651 0.180303 -0.019347
-v -0.226651 -0.180237 -0.019347
 vt 0.000000 1.000000
 vt 1.000000 0.784260
 vt 0.000000 0.784260
@@ -234,54 +246,54 @@ vt 0.000000 0.000000
 vt 0.000000 0.000000
 vt 1.000000 0.000000
 vt 0.000000 0.784260
-vn -1.0000 0.0000 0.0000
+vn -1.0000 -0.0000 0.0000
 vn 0.0000 1.0000 0.0000
-vn 1.0000 -0.0000 0.0000
+vn 1.0000 0.0000 0.0000
 vn 0.0000 -0.0000 1.0000
-vn -0.0000 -1.0000 0.0000
-vn 0.9510 -0.0000 -0.3093
+vn 0.0000 -1.0000 -0.0000
+vn 0.9510 0.0000 -0.3093
 vn 0.0000 0.0000 -1.0000
 vn -0.9950 0.0000 -0.0995
 usemtl None
-s off
-f 48/42/47 52/43/47 53/44/47
-f 43/45/48 44/46/48 45/47/48
-f 44/46/49 43/45/49 46/48/49
-f 43/45/50 45/47/50 46/48/50
-f 45/47/48 44/46/48 47/49/48
-f 42/50/51 46/48/51 48/42/51
-f 46/48/50 45/47/50 48/42/50
-f 46/48/51 42/50/51 49/51/51
-f 47/49/52 44/46/52 49/51/52
-f 42/50/53 47/49/53 49/51/53
-f 45/47/48 47/49/48 50/52/48
-f 47/49/53 42/50/53 50/52/53
-f 44/46/49 46/48/49 51/53/49
-f 46/48/51 49/51/51 51/53/51
-f 49/51/52 44/46/52 51/53/52
-f 48/42/47 45/47/47 52/43/47
-f 50/52/54 42/50/54 52/43/54
-f 45/47/48 50/52/48 52/43/48
-f 42/50/51 48/42/51 53/44/51
-f 52/43/54 42/50/54 53/44/54
+s 1
+f 42/42/59 43/43/59 44/44/59
+f 45/45/60 46/46/60 47/47/60
+f 46/46/61 45/45/61 48/48/61
+f 45/45/62 47/47/62 48/48/62
+f 47/47/60 46/46/60 49/49/60
+f 50/50/63 48/48/63 42/42/63
+f 48/48/62 47/47/62 42/42/62
+f 48/48/63 50/50/63 51/51/63
+f 49/49/64 46/46/64 51/51/64
+f 50/50/65 49/49/65 51/51/65
+f 47/47/60 49/49/60 52/52/60
+f 49/49/65 50/50/65 52/52/65
+f 46/46/61 48/48/61 53/53/61
+f 48/48/63 51/51/63 53/53/63
+f 51/51/64 46/46/64 53/53/64
+f 42/42/59 47/47/59 43/43/59
+f 52/52/66 50/50/66 43/43/66
+f 47/47/60 52/52/60 43/43/60
+f 50/50/63 42/42/63 44/44/63
+f 43/43/66 50/50/66 44/44/66
 o JokkmokkChair_hull_4
-v -0.218919 -0.180237 0.475836
-v -0.194161 0.070440 0.551621
+v -0.194161 0.180303 0.539252
+v -0.218919 0.175610 0.540803
+v -0.194161 0.175610 0.540803
 v -0.194161 0.085898 0.550077
+v -0.194161 0.070440 0.551621
 v -0.194161 -0.180237 0.475836
+v -0.218919 -0.180237 0.475836
 v -0.218919 0.180303 0.475836
 v -0.218919 -0.175579 0.540795
 v -0.194161 0.180303 0.475836
-v -0.218919 0.175610 0.540803
 v -0.194161 -0.180237 0.539252
-v -0.194161 0.180303 0.539252
 v -0.218919 -0.070374 0.551621
 v -0.194161 -0.070374 0.551621
 v -0.218919 0.070440 0.551621
 v -0.218919 0.180303 0.539252
 v -0.218919 -0.180237 0.539252
 v -0.194161 -0.175579 0.540795
-v -0.194161 0.175610 0.540803
 vt 1.000000 0.836792
 vt 0.986981 0.857255
 vt 0.986981 0.857255
@@ -299,75 +311,77 @@ vt 0.695282 1.000000
 vt 1.000000 0.836792
 vt 0.000000 0.836792
 vt 0.012921 0.857156
-vn 0.0000 0.3137 0.9495
-vn 1.0000 0.0000 -0.0000
+vn 0.0000 0.3138 0.9495
+vn 1.0000 0.0000 0.0000
 vn 0.0000 0.0000 -1.0000
 vn -1.0000 0.0000 0.0000
 vn 0.0000 -1.0000 -0.0000
 vn 0.0000 1.0000 0.0000
-vn 0.0000 -0.0000 1.0000
+vn 0.0000 0.0000 1.0000
 vn 0.0000 -0.1024 0.9947
-vn 0.0000 0.0993 0.9951
-vn -0.0019 0.1023 0.9947
+vn 0.0000 0.0994 0.9950
+vn 0.0007 0.1016 0.9948
+vn -0.0003 0.0996 0.9950
+vn -0.0015 0.1024 0.9947
 vn 0.0000 -0.3145 0.9493
 vn 0.0000 0.1028 0.9947
 usemtl None
-s off
-f 63/54/55 61/55/55 70/56/55
-f 56/57/56 55/58/56 57/59/56
-f 57/59/57 54/60/57 58/61/57
-f 58/61/58 54/60/58 59/62/58
-f 56/57/56 57/59/56 60/63/56
-f 57/59/57 58/61/57 60/63/57
-f 58/61/58 59/62/58 61/55/58
-f 57/59/56 55/58/56 62/64/56
-f 54/60/59 57/59/59 62/64/59
-f 56/57/56 60/63/56 63/54/56
-f 60/63/60 58/61/60 63/54/60
-f 61/55/58 59/62/58 64/65/58
-f 62/64/56 55/58/56 65/66/56
-f 55/58/61 64/65/61 65/66/61
-f 64/65/62 59/62/62 65/66/62
-f 55/58/63 56/57/63 66/67/63
-f 56/57/64 61/55/64 66/67/64
-f 64/65/61 55/58/61 66/67/61
-f 61/55/58 64/65/58 66/67/58
-f 58/61/58 61/55/58 67/68/58
-f 63/54/60 58/61/60 67/68/60
-f 61/55/55 63/54/55 67/68/55
-f 59/62/58 54/60/58 68/69/58
-f 54/60/59 62/64/59 68/69/59
-f 62/64/65 59/62/65 68/69/65
-f 59/62/65 62/64/65 69/70/65
-f 62/64/56 65/66/56 69/70/56
-f 65/66/62 59/62/62 69/70/62
-f 61/55/66 56/57/66 70/56/66
-f 56/57/56 63/54/56 70/56/56
+s 1
+f 54/54/67 55/55/67 56/56/67
+f 57/57/68 58/58/68 59/59/68
+f 59/59/69 60/60/69 61/61/69
+f 61/61/70 60/60/70 62/62/70
+f 57/57/68 59/59/68 63/63/68
+f 59/59/69 61/61/69 63/63/69
+f 61/61/70 62/62/70 55/55/70
+f 59/59/68 58/58/68 64/64/68
+f 60/60/71 59/59/71 64/64/71
+f 57/57/68 63/63/68 54/54/68
+f 63/63/72 61/61/72 54/54/72
+f 55/55/70 62/62/70 65/65/70
+f 64/64/68 58/58/68 66/66/68
+f 58/58/73 65/65/73 66/66/73
+f 65/65/74 62/62/74 66/66/74
+f 58/58/75 57/57/76 67/67/77
+f 57/57/76 55/55/78 67/67/77
+f 65/65/73 58/58/73 67/67/73
+f 55/55/70 65/65/70 67/67/70
+f 61/61/70 55/55/70 68/68/70
+f 54/54/72 61/61/72 68/68/72
+f 55/55/67 54/54/67 68/68/67
+f 62/62/70 60/60/70 69/69/70
+f 60/60/71 64/64/71 69/69/71
+f 64/64/79 62/62/79 69/69/79
+f 62/62/79 64/64/79 70/70/79
+f 64/64/68 66/66/68 70/70/68
+f 66/66/74 62/62/74 70/70/74
+f 55/55/78 57/57/76 56/56/80
+f 57/57/68 54/54/68 56/56/68
 o JokkmokkChair_hull_5
-v -0.237475 0.223630 -0.551643
+v -0.194169 0.180303 -0.081279
+v -0.218921 0.183399 -0.413926
+v -0.187981 0.181851 -0.181844
 v -0.174055 0.222082 -0.002337
+v -0.174055 0.180303 -0.002391
+v -0.174055 0.217438 -0.081279
 v -0.175605 0.223626 -0.000828
+v -0.175605 0.223626 -0.087481
 v -0.226648 0.180303 -0.002391
-v -0.175605 0.181851 -0.087481
-v -0.276173 0.184947 -0.551643
 v -0.226648 0.223626 -0.000828
+v -0.234386 0.223630 -0.534603
+v -0.237475 0.223630 -0.551643
 v -0.276172 0.223630 -0.542314
 v -0.235925 0.184947 -0.545442
-v -0.174055 0.180303 -0.002391
-v -0.174055 0.217438 -0.081279
-v -0.175605 0.223626 -0.087481
-v -0.194169 0.180303 -0.081279
-v -0.263776 0.183399 -0.407671
-v -0.234386 0.223630 -0.534603
+v -0.276173 0.184947 -0.551643
 v -0.276172 0.223630 -0.551643
+v -0.175605 0.181851 -0.087481
 v -0.174055 0.191139 -0.081279
-v -0.218921 0.183399 -0.413926
+v -0.263776 0.183399 -0.407671
 v -0.226648 0.181851 -0.000828
 v -0.237475 0.184947 -0.551643
 v -0.220470 0.180303 -0.081279
 v -0.276173 0.184947 -0.542314
 v -0.175605 0.181851 -0.000828
-v -0.187981 0.181851 -0.181844
 vt 0.853940 0.803035
 vt 0.250024 0.560646
 vt 0.671366 0.863632
@@ -392,104 +406,114 @@ vt 0.000000 0.378952
 vt 0.853940 0.545472
 vt 0.016936 0.000000
 vt 1.000000 0.984826
+vn 0.0458 -0.9989 -0.0126
 vn 0.0447 -0.9989 -0.0126
-vn 1.0000 -0.0000 -0.0000
-vn 0.7058 0.7084 0.0000
-vn 0.9731 0.2301 -0.0135
-vn -0.0000 -1.0000 -0.0000
-vn 0.0000 1.0000 0.0000
+vn 0.0475 -0.9988 -0.0124
+vn 1.0000 0.0000 0.0000
+vn 0.7057 0.7085 0.0000
+vn 0.9731 0.2302 -0.0135
+vn 0.0000 -1.0000 -0.0000
+vn 0.0000 -1.0000 0.0003
+vn -0.0000 1.0000 0.0000
 vn 0.9839 0.0108 -0.1784
 vn 0.0001 1.0000 0.0000
-vn 0.9847 0.1168 -0.1294
+vn 0.9847 0.1169 -0.1294
 vn 0.0000 0.0000 -1.0000
 vn -1.0000 0.0000 0.0000
-vn 0.9883 -0.1510 -0.0207
+vn 0.9883 -0.1511 -0.0208
 vn 0.9912 -0.0024 -0.1321
+vn 0.9913 -0.0007 -0.1320
+vn 0.9912 -0.0018 -0.1320
 vn 0.9913 0.0000 -0.1319
-vn -0.0015 -0.9999 -0.0106
-vn 0.0000 0.0000 1.0000
+vn -0.0014 -0.9999 -0.0100
+vn -0.0011 -0.9999 -0.0107
+vn 0.0000 -0.9999 -0.0102
+vn 0.0000 -0.0000 1.0000
 vn -0.9958 0.0000 0.0911
-vn -0.0000 -0.7107 0.7035
-vn 0.9702 0.0000 -0.2424
+vn 0.0000 -0.7108 0.7034
+vn 0.0000 -0.7107 0.7034
+vn 0.0000 -0.7105 0.7037
+vn 0.9702 0.0000 -0.2425
 vn 0.0971 -0.9950 -0.0243
-vn -0.0000 -0.9999 -0.0112
+vn 0.0000 -0.9999 -0.0112
+vn -0.0012 -1.0000 -0.0092
 vn -0.0449 -0.9990 -0.0035
-vn 0.0000 -1.0000 -0.0093
-vn -0.0013 -1.0000 -0.0093
-vn -0.9891 -0.1166 0.0897
+vn -0.9891 -0.1165 0.0897
 vn -0.1239 -0.9923 0.0000
 vn -0.9918 -0.0911 0.0902
-vn 0.6979 0.0000 0.7162
-vn 0.7099 -0.0009 0.7043
+vn 0.6976 0.0000 0.7165
+vn 0.7096 -0.0009 0.7046
 vn 0.1590 -0.9871 -0.0209
 vn 0.0486 -0.9987 -0.0124
+vn 0.9891 -0.0684 -0.1306
 vn 0.9885 -0.0784 -0.1296
-vn 0.9893 -0.0648 -0.1310
-vn 0.7808 -0.6153 -0.1082
+vn 0.9887 -0.0746 -0.1300
+vn 0.9893 -0.0649 -0.1310
+vn 0.7807 -0.6154 -0.1082
 usemtl None
-s off
-f 83/71/67 88/72/67 94/73/67
-f 72/74/68 80/75/68 81/76/68
-f 73/77/69 72/74/69 82/78/69
-f 72/74/70 81/76/70 82/78/70
-f 80/75/71 74/79/71 83/71/71
-f 77/80/72 73/77/72 85/81/72
-f 71/82/72 78/83/72 85/81/72
-f 78/83/72 77/80/72 85/81/72
-f 79/84/73 71/82/73 85/81/73
-f 73/77/74 82/78/74 85/81/74
-f 82/78/75 81/76/75 85/81/75
-f 71/82/76 76/85/76 86/86/76
-f 78/83/72 71/82/72 86/86/72
-f 76/85/77 78/83/77 86/86/77
-f 80/75/78 75/87/78 87/88/78
-f 81/76/68 80/75/68 87/88/68
-f 79/84/79 85/81/79 87/88/79
-f 85/81/80 81/76/80 87/88/80
-f 84/89/81 76/85/81 88/72/81
-f 73/77/82 77/80/82 89/90/82
-f 77/80/83 78/83/83 89/90/83
-f 74/79/84 80/75/84 89/90/84
-f 76/85/76 71/82/76 90/91/76
-f 71/82/85 79/84/85 90/91/85
-f 79/84/86 88/72/86 90/91/86
-f 88/72/87 76/85/87 90/91/87
-f 83/71/71 74/79/71 91/92/71
-f 74/79/88 84/89/88 91/92/88
-f 88/72/89 83/71/89 91/92/89
-f 84/89/90 88/72/90 91/92/90
-f 78/83/77 76/85/77 92/93/77
-f 84/89/91 74/79/91 92/93/91
-f 76/85/92 84/89/92 92/93/92
-f 89/90/83 78/83/83 92/93/83
-f 74/79/93 89/90/93 92/93/93
-f 72/74/94 73/77/94 93/94/94
-f 80/75/95 72/74/95 93/94/95
-f 73/77/82 89/90/82 93/94/82
-f 89/90/84 80/75/84 93/94/84
-f 75/87/96 80/75/96 94/73/96
-f 80/75/97 83/71/97 94/73/97
-f 87/88/98 75/87/98 94/73/98
-f 79/84/99 87/88/99 94/73/99
-f 88/72/100 79/84/100 94/73/100
+s 1
+f 71/71/81 72/72/82 73/73/83
+f 74/74/84 75/75/84 76/76/84
+f 77/77/85 74/74/85 78/78/85
+f 74/74/86 76/76/86 78/78/86
+f 75/75/87 79/79/87 71/71/88
+f 80/80/89 77/77/89 81/81/89
+f 82/82/89 83/83/89 81/81/89
+f 83/83/89 80/80/89 81/81/89
+f 84/84/90 82/82/90 81/81/90
+f 77/77/89 78/78/91 81/81/89
+f 78/78/92 76/76/92 81/81/92
+f 82/82/93 85/85/93 86/86/93
+f 83/83/89 82/82/89 86/86/89
+f 85/85/94 83/83/94 86/86/94
+f 75/75/95 87/87/95 88/88/95
+f 76/76/84 75/75/84 88/88/84
+f 84/84/96 81/81/97 88/88/98
+f 81/81/97 76/76/99 88/88/98
+f 89/89/100 85/85/101 72/72/102
+f 77/77/103 80/80/103 90/90/103
+f 80/80/104 83/83/104 90/90/104
+f 79/79/105 75/75/106 90/90/107
+f 85/85/93 82/82/93 91/91/93
+f 82/82/108 84/84/108 91/91/108
+f 84/84/109 72/72/109 91/91/109
+f 72/72/102 85/85/101 91/91/110
+f 71/71/88 79/79/87 92/92/111
+f 79/79/112 89/89/112 92/92/112
+f 72/72/102 71/71/88 92/92/111
+f 89/89/100 72/72/102 92/92/111
+f 83/83/94 85/85/94 93/93/94
+f 89/89/113 79/79/113 93/93/113
+f 85/85/114 89/89/114 93/93/114
+f 90/90/104 83/83/104 93/93/104
+f 79/79/115 90/90/115 93/93/115
+f 74/74/116 77/77/116 94/94/116
+f 75/75/117 74/74/117 94/94/117
+f 77/77/103 90/90/103 94/94/103
+f 90/90/107 75/75/106 94/94/107
+f 87/87/118 75/75/118 73/73/118
+f 75/75/119 71/71/81 73/73/83
+f 88/88/120 87/87/121 73/73/122
+f 84/84/123 88/88/120 73/73/122
+f 72/72/124 84/84/124 73/73/124
 o JokkmokkChair_hull_6
-v -0.226656 0.223626 0.551643
-v -0.175592 0.183399 0.022532
+v -0.194161 0.180303 0.539260
 v -0.175592 0.181851 0.022532
-v -0.226656 0.181851 -0.000774
-v -0.218913 0.180303 0.539260
+v -0.191067 0.181851 0.516008
+v -0.175592 0.183399 0.022532
 v -0.175592 0.223630 -0.000774
-v -0.192617 0.223626 0.551643
+v -0.226656 0.181851 -0.000774
+v -0.226656 0.223626 0.551643
 v -0.226656 0.223630 -0.000774
+v -0.192617 0.223626 0.551643
 v -0.192622 0.181851 0.551643
 v -0.226656 0.181851 0.551643
+v -0.218913 0.180303 0.539260
 v -0.175592 0.181851 -0.000774
 v -0.186434 0.180303 0.169450
 v -0.189523 0.223626 0.468045
-v -0.194161 0.180303 0.539260
 v -0.211181 0.180303 0.169450
 v -0.175592 0.223630 0.022478
-v -0.191067 0.181851 0.516008
 vt 0.977584 0.636355
 vt 0.042189 1.000000
 vt 0.935493 0.696946
@@ -510,70 +534,75 @@ vt 0.042091 1.000000
 vn 0.5476 -0.8366 0.0172
 vn 1.0000 0.0000 0.0000
 vn -1.0000 0.0000 0.0000
-vn -0.0000 0.0000 -1.0000
-vn 0.0000 -0.0000 1.0000
-vn -0.1961 -0.9806 0.0000
+vn 0.0000 0.0000 -1.0000
+vn 0.0000 0.0000 1.0000
+vn -0.1960 -0.9806 -0.0000
 vn 0.0000 -0.9923 0.1240
-vn -0.0000 -1.0000 -0.0091
-vn 0.1414 -0.9900 -0.0000
+vn 0.0000 -1.0000 -0.0091
+vn 0.0000 -1.0000 -0.0001
+vn 0.1413 -0.9900 0.0000
+vn 0.9995 -0.0006 0.0313
 vn 0.9995 0.0000 0.0313
-vn 0.0000 -1.0000 0.0000
+vn 0.9994 0.0041 0.0331
+vn 0.0000 -1.0000 -0.0000
 vn 0.1953 -0.9807 0.0041
 vn -0.0811 -0.9967 -0.0017
-vn 0.0000 1.0000 0.0000
-vn 0.9995 0.0000 0.0312
-vn 0.0017 1.0000 0.0001
+vn 0.0000 -1.0000 -0.0046
+vn -0.0000 1.0000 0.0000
+vn 0.0012 1.0000 0.0001
+vn 0.0009 1.0000 0.0000
+vn 0.0019 1.0000 0.0002
+vn 0.9991 0.0002 0.0433
 vn 0.9990 -0.0001 0.0436
-vn 0.9995 -0.0010 0.0313
-vn 0.9993 0.0055 0.0370
+vn 0.9993 -0.0033 0.0363
 vn 0.5969 -0.8019 0.0260
 usemtl None
-s off
-f 108/95/101 97/96/101 111/97/101
-f 96/98/102 97/96/102 100/99/102
-f 98/100/103 95/101/103 102/102/103
-f 100/99/104 98/100/104 102/102/104
-f 101/103/105 95/101/105 103/104/105
-f 95/101/103 98/100/103 104/105/103
-f 98/100/106 99/106/106 104/105/106
-f 103/104/105 95/101/105 104/105/105
-f 99/106/107 103/104/107 104/105/107
-f 100/99/102 97/96/102 105/107/102
-f 98/100/104 100/99/104 105/107/104
-f 98/100/108 105/107/108 106/108/108
-f 105/107/109 97/96/109 106/108/109
-f 97/96/110 96/98/110 107/109/110
-f 103/104/107 99/106/107 108/95/107
-f 99/106/111 106/108/111 108/95/111
-f 106/108/112 97/96/112 108/95/112
-f 99/106/113 98/100/113 109/110/113
-f 98/100/108 106/108/108 109/110/108
-f 106/108/111 99/106/111 109/110/111
-f 96/98/102 100/99/102 110/111/102
-f 95/101/114 101/103/114 110/111/114
-f 102/102/114 95/101/114 110/111/114
-f 100/99/114 102/102/114 110/111/114
-f 107/109/115 96/98/115 110/111/115
-f 101/103/116 107/109/116 110/111/116
-f 101/103/117 103/104/117 111/97/117
-f 97/96/118 107/109/118 111/97/118
-f 107/109/119 101/103/119 111/97/119
-f 103/104/120 108/95/120 111/97/120
+s 1
+f 95/95/125 96/96/125 97/97/125
+f 98/98/126 96/96/126 99/99/126
+f 100/100/127 101/101/127 102/102/127
+f 99/99/128 100/100/128 102/102/128
+f 103/103/129 101/101/129 104/104/129
+f 101/101/127 100/100/127 105/105/127
+f 100/100/130 106/106/130 105/105/130
+f 104/104/129 101/101/129 105/105/129
+f 106/106/131 104/104/131 105/105/131
+f 99/99/126 96/96/126 107/107/126
+f 100/100/128 99/99/128 107/107/128
+f 100/100/132 107/107/132 108/108/133
+f 107/107/134 96/96/134 108/108/134
+f 96/96/135 98/98/136 109/109/137
+f 104/104/131 106/106/131 95/95/131
+f 106/106/138 108/108/133 95/95/138
+f 108/108/139 96/96/139 95/95/139
+f 106/106/140 100/100/140 110/110/140
+f 100/100/132 108/108/133 110/110/141
+f 108/108/133 106/106/138 110/110/141
+f 98/98/126 99/99/126 111/111/126
+f 101/101/142 103/103/143 111/111/144
+f 102/102/142 101/101/142 111/111/144
+f 99/99/142 102/102/142 111/111/144
+f 109/109/137 98/98/136 111/111/136
+f 103/103/143 109/109/145 111/111/144
+f 103/103/146 104/104/147 97/97/148
+f 96/96/135 109/109/137 97/97/148
+f 109/109/137 103/103/146 97/97/148
+f 104/104/149 95/95/149 97/97/149
 o JokkmokkChair_hull_7
-v 0.217405 -0.239038 -0.020896
-v -0.174007 -0.217373 -0.081238
+v -0.166266 -0.191069 -0.081238
+v -0.166266 -0.191069 -0.020896
+v -0.017733 -0.198807 -0.081238
 v -0.174007 -0.191069 -0.081238
+v -0.174007 -0.217373 -0.081238
 v -0.174007 -0.217373 -0.020896
 v 0.217405 -0.211189 -0.081238
+v 0.217405 -0.239038 -0.020896
 v 0.217405 -0.211189 -0.020896
 v 0.215872 -0.239038 -0.081238
-v -0.166266 -0.191069 -0.020896
 v -0.167837 -0.218923 -0.020896
 v -0.167837 -0.218923 -0.081238
 v -0.174007 -0.191069 -0.020896
-v -0.166266 -0.191069 -0.081238
 v 0.217405 -0.239038 -0.081238
-v -0.017733 -0.198807 -0.081238
 vt 0.019777 0.000000
 vt 0.019777 1.000000
 vt 0.399256 0.000000
@@ -589,60 +618,64 @@ vt 0.015763 0.000000
 vt 0.000000 1.000000
 vt 1.000000 0.000000
 vn 0.0520 0.9986 0.0000
+vn 0.0523 0.9986 0.0005
+vn 0.0523 0.9986 0.0003
 vn -1.0000 0.0000 0.0000
-vn -0.0000 0.0000 -1.0000
-vn 0.0000 0.0000 1.0000
-vn 1.0000 0.0000 -0.0000
+vn 0.0000 0.0000 -1.0000
+vn 0.0000 -0.0000 1.0000
+vn 1.0000 0.0000 0.0000
 vn -0.2436 -0.9699 0.0000
+vn -0.0523 -0.9986 0.0004
 vn -0.0521 -0.9986 0.0013
-vn -0.0524 -0.9986 -0.0000
+vn -0.0522 -0.9986 0.0009
+vn -0.0524 -0.9986 0.0000
 vn 0.0000 1.0000 0.0000
 vn 0.0000 -1.0000 0.0000
+vn 0.0525 0.9986 0.0005
 vn 0.0526 0.9986 0.0000
-vn 0.0524 0.9986 0.0008
 usemtl None
-s off
-f 123/112/121 119/113/121 125/114/121
-f 114/115/122 113/116/122 115/117/122
-f 113/116/123 114/115/123 116/118/123
-f 115/117/124 112/119/124 117/120/124
-f 112/119/125 116/118/125 117/120/125
-f 113/116/123 116/118/123 118/121/123
-f 115/117/124 117/120/124 119/113/124
-f 115/117/126 113/116/126 120/122/126
-f 112/119/124 115/117/124 120/122/124
-f 118/121/127 112/119/127 120/122/127
-f 118/121/128 120/122/128 121/123/128
-f 113/116/123 118/121/123 121/123/123
-f 120/122/126 113/116/126 121/123/126
-f 114/115/122 115/117/122 122/124/122
-f 119/113/129 114/115/129 122/124/129
-f 115/117/124 119/113/124 122/124/124
-f 116/118/123 114/115/123 123/112/123
-f 114/115/129 119/113/129 123/112/129
-f 116/118/125 112/119/125 124/125/125
-f 112/119/130 118/121/130 124/125/130
-f 118/121/123 116/118/123 124/125/123
-f 117/120/131 116/118/131 125/114/131
-f 119/113/132 117/120/132 125/114/132
-f 116/118/123 123/112/123 125/114/123
+s 1
+f 112/112/150 113/113/151 114/114/152
+f 115/115/153 116/116/153 117/117/153
+f 116/116/154 115/115/154 118/118/154
+f 117/117/155 119/119/155 120/120/155
+f 119/119/156 118/118/156 120/120/156
+f 116/116/154 118/118/154 121/121/154
+f 117/117/155 120/120/155 113/113/155
+f 117/117/157 116/116/157 122/122/157
+f 119/119/155 117/117/155 122/122/155
+f 121/121/158 119/119/159 122/122/160
+f 121/121/158 122/122/160 123/123/161
+f 116/116/154 121/121/154 123/123/154
+f 122/122/157 116/116/157 123/123/157
+f 115/115/153 117/117/153 124/124/153
+f 113/113/162 115/115/162 124/124/162
+f 117/117/155 113/113/155 124/124/155
+f 118/118/154 115/115/154 112/112/154
+f 115/115/162 113/113/162 112/112/162
+f 118/118/156 119/119/156 125/125/156
+f 119/119/163 121/121/163 125/125/163
+f 121/121/154 118/118/154 125/125/154
+f 120/120/164 118/118/165 114/114/152
+f 113/113/151 120/120/164 114/114/152
+f 118/118/154 112/112/154 114/114/154
 o JokkmokkChair_hull_8
+v 0.194187 -0.249867 -0.019341
+v 0.194187 -0.249867 -0.002321
+v -0.147685 -0.226638 -0.002321
 v 0.217405 -0.211152 -0.020890
-v -0.174007 -0.223541 -0.019341
-v -0.169333 -0.225090 -0.019341
 v 0.217405 0.189588 -0.002323
 v 0.217405 -0.249867 -0.002321
 v -0.174007 0.189588 -0.002323
 v -0.174007 0.189588 -0.019339
+v -0.174007 -0.223541 -0.019341
+v -0.169333 -0.225090 -0.019341
 v -0.174007 -0.223541 -0.002321
 v 0.217405 0.189588 -0.019339
 v -0.174007 -0.191064 -0.020890
 v 0.217405 -0.249867 -0.019341
 v -0.167800 -0.218895 -0.020890
-v 0.194187 -0.249867 -0.002321
 v 0.217405 -0.239027 -0.020890
-v 0.194187 -0.249867 -0.019341
-v -0.147685 -0.226638 -0.002321
 vt 0.000000 0.940681
 vt 0.000000 0.940681
 vt 0.052858 0.067247
@@ -659,73 +692,76 @@ vt 0.133810 0.000000
 vt 0.000000 1.000000
 vt 0.070478 0.015857
 vt 0.024667 1.000000
+vn -0.0679 -0.9977 -0.0031
 vn -0.0678 -0.9977 0.0000
-vn 1.0000 -0.0000 -0.0000
+vn -0.0679 -0.9977 -0.0012
+vn 1.0000 0.0000 0.0000
 vn 0.0000 1.0000 0.0000
 vn -1.0000 0.0000 0.0000
-vn -0.3145 -0.9493 0.0000
+vn -0.3146 -0.9492 0.0000
 vn 0.0000 0.0000 1.0000
-vn -0.0000 0.0041 -1.0000
-vn 0.0002 0.0039 -1.0000
-vn -0.0744 -0.2245 -0.9716
+vn 0.0000 0.0041 -1.0000
+vn 0.0001 0.0040 -1.0000
+vn 0.0001 0.0041 -1.0000
 vn -0.0000 -0.0000 -1.0000
+vn -0.0744 -0.2245 -0.9716
 vn -0.2089 -0.0466 -0.9768
 vn 0.0000 -1.0000 0.0000
-vn -0.0067 -0.1274 -0.9918
-vn -0.0163 -0.2387 -0.9710
-vn -0.0000 -0.1414 -0.9899
+vn -0.0067 -0.1275 -0.9918
+vn -0.0163 -0.2387 -0.9709
+vn 0.0000 -0.1415 -0.9899
 vn -0.1167 -0.9915 0.0582
 vn -0.0680 -0.9977 -0.0043
 usemtl None
-s off
-f 140/126/133 138/127/133 141/128/133
-f 126/129/134 129/130/134 130/131/134
-f 131/132/135 129/130/135 132/133/135
-f 127/134/136 131/132/136 132/133/136
-f 127/134/137 128/135/137 133/136/137
-f 130/131/138 129/130/138 133/136/138
-f 131/132/136 127/134/136 133/136/136
-f 129/130/138 131/132/138 133/136/138
-f 129/130/134 126/129/134 134/137/134
-f 132/133/135 129/130/135 134/137/135
-f 132/133/139 134/137/139 135/138/139
-f 127/134/136 132/133/136 135/138/136
-f 134/137/140 126/129/140 135/138/140
-f 126/129/134 130/131/134 136/139/134
-f 128/135/141 127/134/141 137/140/141
-f 135/138/142 126/129/142 137/140/142
-f 127/134/143 135/138/143 137/140/143
-f 130/131/138 133/136/138 138/127/138
-f 136/139/144 130/131/144 138/127/144
-f 126/129/134 136/139/134 139/141/134
-f 137/140/142 126/129/142 139/141/142
-f 137/140/145 139/141/145 140/126/145
-f 128/135/146 137/140/146 140/126/146
-f 136/139/144 138/127/144 140/126/144
-f 139/141/147 136/139/147 140/126/147
-f 133/136/148 128/135/148 141/128/148
-f 138/127/138 133/136/138 141/128/138
-f 128/135/149 140/126/149 141/128/149
+s 1
+f 126/126/166 127/127/167 128/128/168
+f 129/129/169 130/130/169 131/131/169
+f 132/132/170 130/130/170 133/133/170
+f 134/134/171 132/132/171 133/133/171
+f 134/134/172 135/135/172 136/136/172
+f 131/131/173 130/130/173 136/136/173
+f 132/132/171 134/134/171 136/136/171
+f 130/130/173 132/132/173 136/136/173
+f 130/130/169 129/129/169 137/137/169
+f 133/133/170 130/130/170 137/137/170
+f 133/133/174 137/137/175 138/138/176
+f 134/134/171 133/133/171 138/138/171
+f 137/137/175 129/129/177 138/138/176
+f 129/129/169 131/131/169 139/139/169
+f 135/135/178 134/134/178 140/140/178
+f 138/138/176 129/129/177 140/140/177
+f 134/134/179 138/138/179 140/140/179
+f 131/131/173 136/136/173 127/127/173
+f 139/139/180 131/131/180 127/127/180
+f 129/129/169 139/139/169 141/141/169
+f 140/140/177 129/129/177 141/141/177
+f 140/140/181 141/141/181 126/126/181
+f 135/135/182 140/140/182 126/126/182
+f 139/139/180 127/127/180 126/126/180
+f 141/141/183 139/139/183 126/126/183
+f 136/136/184 135/135/184 128/128/184
+f 127/127/173 136/136/173 128/128/173
+f 135/135/185 126/126/166 128/128/168
 o JokkmokkChair_hull_9
-v -0.212722 0.098250 0.317943
-v -0.189524 0.076616 0.393766
-v -0.186424 0.076616 0.245305
-v -0.211177 -0.180237 0.169461
+v -0.189524 -0.076550 0.393766
 v -0.189524 -0.180237 0.382940
+v -0.186424 -0.076550 0.245305
+v -0.211177 -0.180237 0.169461
 v -0.212722 -0.180237 0.382940
+v -0.212722 0.098250 0.317943
 v -0.211177 0.180303 0.169461
 v -0.186424 -0.180237 0.169461
+v -0.186424 0.076616 0.245305
 v -0.186424 0.180303 0.169461
 v -0.212722 0.180303 0.382940
+v -0.189524 0.076616 0.393766
 v -0.189524 0.180303 0.382940
 v -0.212722 -0.076550 0.393766
 v -0.186424 -0.180237 0.234479
-v -0.189524 -0.076550 0.393766
 v -0.212722 0.076616 0.393766
 v -0.212722 -0.180237 0.317943
 v -0.186424 0.180303 0.234458
 v -0.212722 0.180303 0.317965
-v -0.186424 -0.076550 0.245305
 vt 0.287588 1.000000
 vt 0.000000 0.951738
 vt 0.287588 0.338130
@@ -745,74 +781,77 @@ vt 0.712412 1.000000
 vt 0.000000 0.661968
 vt 1.000000 0.289770
 vt 1.000000 0.662066
+vn 0.9998 0.0000 0.0210
 vn 0.9998 -0.0022 0.0209
-vn -0.0000 -1.0000 0.0000
+vn 0.9998 -0.0022 0.0210
+vn 0.0000 -1.0000 -0.0000
 vn -0.9999 0.0000 -0.0104
-vn -0.0000 0.0000 -1.0000
-vn 1.0000 -0.0000 -0.0000
-vn 0.0000 1.0000 -0.0000
+vn -1.0000 0.0000 -0.0052
+vn 0.0000 0.0000 -1.0000
+vn 1.0000 -0.0000 0.0000
+vn 0.0000 1.0000 0.0000
 vn -1.0000 0.0000 0.0000
+vn 0.9998 0.0011 0.0209
 vn 0.9998 0.0022 0.0209
 vn 0.0000 0.1038 0.9946
 vn 0.0000 -0.1038 0.9946
-vn 0.9998 -0.0000 0.0209
 vn 0.0000 0.0000 1.0000
 usemtl None
-s off
-f 155/142/150 146/143/150 160/144/150
-f 145/145/151 146/143/151 147/146/151
-f 145/145/152 142/147/152 148/148/152
-f 145/145/153 148/148/153 149/149/153
-f 146/143/151 145/145/151 149/149/151
-f 144/150/154 149/149/154 150/151/154
-f 149/149/153 148/148/153 150/151/153
-f 150/151/155 148/148/155 151/152/155
-f 142/147/156 147/146/156 151/152/156
-f 143/153/157 144/150/157 152/154/157
-f 150/151/155 151/152/155 152/154/155
-f 151/152/158 143/153/158 152/154/158
-f 147/146/159 146/143/159 153/155/159
-f 151/152/156 147/146/156 153/155/156
-f 146/143/151 149/149/151 154/156/151
-f 149/149/154 144/150/154 154/156/154
-f 144/150/160 143/153/160 155/142/160
-f 143/153/161 153/155/161 155/142/161
-f 153/155/159 146/143/159 155/142/159
-f 143/153/158 151/152/158 156/157/158
-f 153/155/161 143/153/161 156/157/161
-f 151/152/156 153/155/156 156/157/156
-f 142/147/152 145/145/152 157/158/152
-f 147/146/156 142/147/156 157/158/156
-f 145/145/151 147/146/151 157/158/151
-f 144/150/154 150/151/154 158/159/154
-f 152/154/157 144/150/157 158/159/157
-f 150/151/155 152/154/155 158/159/155
-f 148/148/152 142/147/152 159/160/152
-f 151/152/155 148/148/155 159/160/155
-f 142/147/156 151/152/156 159/160/156
-f 154/156/154 144/150/154 160/144/154
-f 146/143/150 154/156/150 160/144/150
-f 144/150/160 155/142/160 160/144/160
+s 1
+f 142/142/186 143/143/187 144/144/188
+f 145/145/189 143/143/189 146/146/189
+f 145/145/190 147/147/191 148/148/190
+f 145/145/192 148/148/192 149/149/192
+f 143/143/189 145/145/189 149/149/189
+f 150/150/193 149/149/193 151/151/193
+f 149/149/192 148/148/192 151/151/192
+f 151/151/194 148/148/194 152/152/194
+f 147/147/191 146/146/195 152/152/195
+f 153/153/196 150/150/196 154/154/197
+f 151/151/194 152/152/194 154/154/194
+f 152/152/198 153/153/198 154/154/198
+f 146/146/199 143/143/199 155/155/199
+f 152/152/195 146/146/195 155/155/195
+f 143/143/189 149/149/189 156/156/189
+f 149/149/193 150/150/193 156/156/193
+f 150/150/196 153/153/196 142/142/186
+f 153/153/200 155/155/200 142/142/200
+f 155/155/199 143/143/199 142/142/199
+f 153/153/198 152/152/198 157/157/198
+f 155/155/200 153/153/200 157/157/200
+f 152/152/195 155/155/195 157/157/195
+f 147/147/191 145/145/190 158/158/191
+f 146/146/195 147/147/191 158/158/191
+f 145/145/189 146/146/189 158/158/189
+f 150/150/193 151/151/193 159/159/193
+f 154/154/197 150/150/196 159/159/197
+f 151/151/194 154/154/194 159/159/194
+f 148/148/190 147/147/191 160/160/191
+f 152/152/194 148/148/194 160/160/194
+f 147/147/191 152/152/195 160/160/191
+f 156/156/193 150/150/193 144/144/193
+f 143/143/187 156/156/187 144/144/188
+f 150/150/196 142/142/186 144/144/188
 o JokkmokkChair_hull_10
-v 0.217443 0.249936 -0.002321
-v -0.174007 0.191141 -0.081238
+v 0.217443 0.237554 -0.081238
+v 0.195756 0.249936 -0.019347
+v 0.217443 0.249936 -0.019347
 v -0.174007 0.217446 -0.081238
+v -0.174007 0.191141 -0.081238
 v -0.174007 0.223625 -0.002321
+v 0.217443 0.249936 -0.002321
 v 0.217405 0.189588 -0.002321
 v 0.217443 0.231363 -0.081238
 v -0.174007 0.189588 -0.002321
 v 0.217405 0.211255 -0.081238
-v 0.195756 0.249936 -0.019347
 v 0.188016 0.237554 -0.081238
 v 0.217405 0.189588 -0.019347
 v -0.169332 0.225173 -0.019347
 v -0.166267 0.218994 -0.081238
-v 0.217443 0.237554 -0.081238
 v 0.172535 0.248388 -0.002321
 v -0.164696 0.191141 -0.081238
 v -0.174007 0.189588 -0.019347
 v -0.169332 0.225173 -0.002321
-v 0.217443 0.249936 -0.019347
 vt 1.000000 0.000000
 vt 0.944597 0.784260
 vt 1.000000 0.784260
@@ -832,71 +871,76 @@ vt 0.885278 1.000000
 vt 0.023786 0.000000
 vt 0.000000 0.784260
 vt 0.011942 1.000000
-vn -0.0000 0.9806 -0.1962
+vn 0.0000 0.9806 -0.1962
 vn -1.0000 0.0000 0.0000
 vn 0.0000 -0.0000 1.0000
 vn -0.0000 0.0000 -1.0000
-vn 1.0000 -0.0006 0.0001
-vn 1.0000 -0.0009 0.0000
-vn -0.0000 -1.0000 0.0000
+vn 1.0000 -0.0002 0.0000
+vn 1.0000 -0.0007 0.0001
+vn 1.0000 -0.0008 -0.0002
+vn 1.0000 -0.0017 -0.0006
+vn 0.0000 -1.0000 0.0000
 vn 1.0000 -0.0019 -0.0007
 vn -0.5235 0.8494 -0.0665
 vn -0.0673 0.9925 -0.1024
 vn -0.0514 0.9805 -0.1897
 vn -0.1950 0.9750 -0.1070
-vn 1.0000 0.0000 -0.0000
+vn 1.0000 0.0000 0.0000
 vn -0.0344 0.9984 0.0438
 vn -0.0677 0.9977 -0.0016
+vn -0.0678 0.9977 -0.0012
+vn -0.0678 0.9977 -0.0005
 vn 0.0000 -0.9997 -0.0251
 vn 0.0496 -0.9427 -0.3300
+vn -1.0000 -0.0001 0.0000
 vn -0.3143 0.9493 0.0000
 vn -0.0678 0.9977 0.0000
 vn 0.0000 1.0000 0.0000
 usemtl None
-s off
-f 174/161/162 169/162/162 179/163/162
-f 163/164/163 162/165/163 164/166/163
-f 161/167/164 164/166/164 165/168/164
-f 162/165/165 163/164/165 166/169/165
-f 161/167/166 165/168/166 166/169/166
-f 164/166/163 162/165/163 167/170/163
-f 165/168/164 164/166/164 167/170/164
-f 162/165/165 166/169/165 168/171/165
-f 166/169/165 163/164/165 170/172/165
-f 166/169/167 165/168/167 171/173/167
-f 165/168/168 167/170/168 171/173/168
-f 168/171/169 166/169/169 171/173/169
-f 163/164/170 164/166/170 172/174/170
-f 172/174/171 169/162/171 173/175/171
-f 170/172/165 163/164/165 173/175/165
-f 169/162/172 170/172/172 173/175/172
-f 163/164/173 172/174/173 173/175/173
-f 161/167/174 166/169/174 174/161/174
-f 166/169/165 170/172/165 174/161/165
-f 170/172/162 169/162/162 174/161/162
-f 164/166/164 161/167/164 175/176/164
-f 161/167/175 169/162/175 175/176/175
-f 169/162/176 172/174/176 175/176/176
-f 162/165/165 168/171/165 176/177/165
-f 171/173/177 162/165/177 176/177/177
-f 168/171/178 171/173/178 176/177/178
-f 167/170/163 162/165/163 177/178/163
-f 162/165/177 171/173/177 177/178/177
-f 171/173/168 167/170/168 177/178/168
-f 172/174/179 164/166/179 178/179/179
-f 164/166/164 175/176/164 178/179/164
-f 175/176/180 172/174/180 178/179/180
-f 169/162/181 161/167/181 179/163/181
-f 161/167/174 174/161/174 179/163/174
+s 1
+f 161/161/201 162/162/201 163/163/201
+f 164/164/202 165/165/202 166/166/202
+f 167/167/203 166/166/203 168/168/203
+f 165/165/204 164/164/204 169/169/204
+f 167/167/205 168/168/206 169/169/207
+f 166/166/202 165/165/202 170/170/202
+f 168/168/203 166/166/203 170/170/203
+f 165/165/204 169/169/204 171/171/204
+f 169/169/204 164/164/204 172/172/204
+f 169/169/207 168/168/206 173/173/208
+f 168/168/209 170/170/209 173/173/209
+f 171/171/210 169/169/207 173/173/208
+f 164/164/211 166/166/211 174/174/211
+f 174/174/212 162/162/212 175/175/212
+f 172/172/204 164/164/204 175/175/204
+f 162/162/213 172/172/213 175/175/213
+f 164/164/214 174/174/214 175/175/214
+f 167/167/205 169/169/207 161/161/215
+f 169/169/204 172/172/204 161/161/204
+f 172/172/201 162/162/201 161/161/201
+f 166/166/203 167/167/203 176/176/203
+f 167/167/216 162/162/216 176/176/216
+f 162/162/217 174/174/218 176/176/219
+f 165/165/204 171/171/204 177/177/204
+f 173/173/220 165/165/220 177/177/220
+f 171/171/221 173/173/221 177/177/221
+f 170/170/202 165/165/202 178/178/222
+f 165/165/220 173/173/220 178/178/220
+f 173/173/209 170/170/209 178/178/209
+f 174/174/223 166/166/223 179/179/223
+f 166/166/203 176/176/203 179/179/203
+f 176/176/219 174/174/218 179/179/224
+f 162/162/225 167/167/225 163/163/225
+f 167/167/205 161/161/215 163/163/215
 o JokkmokkChair_hull_11
-v 0.257672 -0.206547 -0.082819
+v 0.218991 -0.245228 -0.082865
+v 0.257672 -0.245228 -0.551643
+v 0.257672 -0.245228 -0.082865
 v 0.218991 -0.245228 -0.551643
 v 0.218991 -0.206543 -0.551643
-v 0.257672 -0.245228 -0.551643
-v 0.218991 -0.245228 -0.082865
+v 0.257672 -0.206547 -0.082819
 v 0.257672 -0.206543 -0.551643
 v 0.218991 -0.206547 -0.082819
-v 0.257672 -0.245228 -0.082865
 vt 0.999902 0.000000
 vt 0.000000 0.000000
 vt 0.999902 0.000000
@@ -907,41 +951,41 @@ vt 0.000000 1.000000
 vt 1.000000 0.999903
 vn 0.0000 -1.0000 -0.0000
 vn 0.0000 0.0000 -1.0000
-vn -1.0000 0.0000 0.0000
+vn -1.0000 -0.0000 0.0000
 vn 0.0000 1.0000 0.0000
-vn 1.0000 0.0000 -0.0000
+vn 1.0000 0.0000 0.0000
 vn 0.0000 -0.0012 1.0000
 usemtl None
-s off
-f 184/180/182 183/181/182 187/182/182
-f 181/183/183 182/184/183 183/181/183
-f 182/184/184 181/183/184 184/180/184
-f 181/183/182 183/181/182 184/180/182
-f 182/184/185 180/185/185 185/186/185
-f 183/181/183 182/184/183 185/186/183
-f 180/185/186 183/181/186 185/186/186
-f 180/185/185 182/184/185 186/187/185
-f 184/180/187 180/185/187 186/187/187
-f 182/184/184 184/180/184 186/187/184
-f 183/181/186 180/185/186 187/182/186
-f 180/185/187 184/180/187 187/182/187
+s 1
+f 180/180/226 181/181/226 182/182/226
+f 183/183/227 184/184/227 181/181/227
+f 184/184/228 183/183/228 180/180/228
+f 183/183/226 181/181/226 180/180/226
+f 184/184/229 185/185/229 186/186/229
+f 181/181/227 184/184/227 186/186/227
+f 185/185/230 181/181/230 186/186/230
+f 185/185/229 184/184/229 187/187/229
+f 180/180/231 185/185/231 187/187/231
+f 184/184/228 180/180/228 187/187/228
+f 181/181/230 185/185/230 182/182/230
+f 185/185/231 180/180/231 182/182/231
 o JokkmokkChair_hull_12
-v 0.217443 -0.239009 -0.081234
-v 0.276244 0.254578 -0.002321
+v 0.218992 0.245259 -0.082785
+v 0.218992 0.251438 -0.019350
+v 0.263852 0.254578 -0.019350
 v 0.276244 0.254578 -0.019350
+v 0.276244 0.254578 -0.002321
 v 0.276244 -0.254507 -0.002321
 v 0.217443 0.249894 -0.002321
-v 0.257670 0.245259 -0.082785
+v 0.217443 -0.239009 -0.081234
 v 0.217443 -0.251367 -0.002321
+v 0.257670 0.245259 -0.082785
 v 0.257670 -0.245188 -0.082785
-v 0.218992 0.245259 -0.082785
 v 0.276244 -0.254507 -0.019350
 v 0.218992 -0.245188 -0.082785
 v 0.217443 0.239080 -0.081234
-v 0.218992 0.251438 -0.019350
 v 0.217443 -0.251367 -0.019350
 v 0.263852 -0.254507 -0.019350
-v 0.263852 0.254578 -0.019350
 vt 0.981695 0.000000
 vt 0.993833 0.788371
 vt 1.000000 0.788371
@@ -959,19 +1003,19 @@ vt 0.969558 0.019284
 vt 0.006167 0.788371
 vt 0.000000 0.788371
 vn -0.0695 0.9929 -0.0967
-vn 1.0000 -0.0000 0.0000
+vn 1.0000 0.0000 0.0000
 vn 0.0000 -0.0000 1.0000
 vn -1.0000 0.0000 0.0000
-vn 0.9597 -0.0000 -0.2810
-vn -0.0000 0.9894 -0.1453
-vn -0.0000 0.0000 -1.0000
-vn -0.0000 -0.9894 -0.1453
-vn -0.7079 0.0000 -0.7064
-vn -0.7079 0.0000 -0.7063
-vn -0.9714 0.2353 -0.0322
+vn 0.9597 0.0000 -0.2810
+vn 0.0000 0.9894 -0.1453
+vn 0.0000 0.0000 -1.0000
+vn 0.0000 -0.9894 -0.1453
+vn -0.7079 -0.0000 -0.7063
+vn -0.7076 0.0000 -0.7066
+vn -0.9715 0.2350 -0.0320
 vn -0.0791 0.9934 0.0829
-vn -0.8996 0.4348 -0.0424
-vn -0.9717 -0.2318 -0.0463
+vn -0.8994 0.4350 -0.0424
+vn -0.9716 -0.2319 -0.0463
 vn -0.0672 -0.9929 -0.0984
 vn -0.0533 -0.9978 0.0388
 vn 0.0000 -1.0000 0.0000
@@ -979,45 +1023,45 @@ vn -0.0675 -0.9977 0.0000
 vn 0.0000 1.0000 0.0000
 vn -0.0697 0.9963 0.0507
 usemtl None
-s off
-f 196/188/188 200/189/188 203/190/188
-f 190/191/189 189/192/189 191/193/189
-f 191/193/190 189/192/190 192/194/190
-f 192/194/191 188/195/191 194/196/191
-f 191/193/190 192/194/190 194/196/190
-f 193/197/192 190/191/192 195/198/192
-f 190/191/193 193/197/193 196/188/193
-f 193/197/194 195/198/194 196/188/194
-f 190/191/189 191/193/189 197/199/189
-f 195/198/192 190/191/192 197/199/192
-f 195/198/195 197/199/195 198/200/195
-f 188/195/196 196/188/196 198/200/196
-f 196/188/194 195/198/194 198/200/194
-f 188/195/191 192/194/191 199/201/191
-f 196/188/197 188/195/197 199/201/197
-f 192/194/198 196/188/198 199/201/198
-f 192/194/199 189/192/199 200/189/199
-f 196/188/200 192/194/200 200/189/200
-f 194/196/191 188/195/191 201/202/191
-f 188/195/201 198/200/201 201/202/201
-f 201/202/202 198/200/202 202/203/202
-f 191/193/203 194/196/203 202/203/203
-f 197/199/204 191/193/204 202/203/204
-f 198/200/195 197/199/195 202/203/195
-f 194/196/205 201/202/205 202/203/205
-f 189/192/206 190/191/206 203/190/206
-f 190/191/193 196/188/193 203/190/193
-f 200/189/207 189/192/207 203/190/207
+s 1
+f 188/188/232 189/189/232 190/190/232
+f 191/191/233 192/192/233 193/193/233
+f 193/193/234 192/192/234 194/194/234
+f 194/194/235 195/195/235 196/196/235
+f 193/193/234 194/194/234 196/196/234
+f 197/197/236 191/191/236 198/198/236
+f 191/191/237 197/197/237 188/188/237
+f 197/197/238 198/198/238 188/188/238
+f 191/191/233 193/193/233 199/199/233
+f 198/198/236 191/191/236 199/199/236
+f 198/198/239 199/199/239 200/200/239
+f 195/195/240 188/188/240 200/200/241
+f 188/188/238 198/198/238 200/200/238
+f 195/195/235 194/194/235 201/201/235
+f 188/188/240 195/195/240 201/201/241
+f 194/194/242 188/188/242 201/201/242
+f 194/194/243 192/192/243 189/189/243
+f 188/188/244 194/194/244 189/189/244
+f 196/196/235 195/195/235 202/202/235
+f 195/195/245 200/200/245 202/202/245
+f 202/202/246 200/200/246 203/203/246
+f 193/193/247 196/196/247 203/203/247
+f 199/199/248 193/193/248 203/203/248
+f 200/200/239 199/199/239 203/203/239
+f 196/196/249 202/202/249 203/203/249
+f 192/192/250 191/191/250 190/190/250
+f 191/191/237 188/188/237 190/190/237
+f 189/189/251 192/192/251 190/190/251
 o JokkmokkChair_hull_13
-v 0.257672 0.243745 -0.082819
+v 0.257672 0.245294 -0.551643
+v 0.218991 0.245294 -0.082819
+v 0.257672 0.245294 -0.082819
 v 0.218991 0.206609 -0.551643
 v 0.218991 0.245294 -0.551643
 v 0.257672 0.206609 -0.551643
 v 0.218991 0.206609 -0.082865
-v 0.257672 0.245294 -0.551643
-v 0.218991 0.245294 -0.082819
+v 0.257672 0.243745 -0.082819
 v 0.257672 0.206609 -0.082865
-v 0.257672 0.245294 -0.082819
 vt 0.000000 1.000000
 vt 1.000000 1.000000
 vt 1.000000 1.000000
@@ -1029,24 +1073,25 @@ vt 1.000000 0.959964
 vt 0.999902 0.000000
 vn 0.0000 1.0000 0.0000
 vn 0.0000 0.0000 -1.0000
-vn -1.0000 0.0000 0.0000
+vn -1.0000 -0.0000 0.0000
 vn 0.0000 -1.0000 0.0000
-vn 1.0000 0.0000 -0.0000
+vn 1.0000 -0.0000 0.0000
 vn -0.0000 -0.0012 1.0000
+vn 0.0000 -0.0004 1.0000
 vn 0.0000 0.0000 1.0000
 usemtl None
-s off
-f 209/204/208 210/205/208 212/206/208
-f 205/207/209 206/208/209 207/209/209
-f 206/208/210 205/207/210 208/210/210
-f 205/207/211 207/209/211 208/210/211
-f 207/209/209 206/208/209 209/204/209
-f 204/211/212 207/209/212 209/204/212
-f 208/210/213 204/211/213 210/205/213
-f 206/208/210 208/210/210 210/205/210
-f 209/204/208 206/208/208 210/205/208
-f 207/209/212 204/211/212 211/212/212
-f 204/211/213 208/210/213 211/212/213
-f 208/210/211 207/209/211 211/212/211
-f 204/211/212 209/204/212 212/206/212
-f 210/205/214 204/211/214 212/206/214
+s 1
+f 204/204/252 205/205/252 206/206/252
+f 207/207/253 208/208/253 209/209/253
+f 208/208/254 207/207/254 210/210/254
+f 207/207/255 209/209/255 210/210/255
+f 209/209/253 208/208/253 204/204/253
+f 211/211/256 209/209/256 204/204/256
+f 210/210/257 211/211/257 205/205/258
+f 208/208/254 210/210/254 205/205/254
+f 204/204/252 208/208/252 205/205/252
+f 209/209/256 211/211/256 212/212/256
+f 211/211/257 210/210/257 212/212/257
+f 210/210/255 209/209/255 212/212/255
+f 211/211/256 204/204/256 206/206/256
+f 205/205/258 211/211/257 206/206/259
diff --git a/iai_kitchen/meshes/jokkmokk/JokkmokkTable.mtl b/iai_kitchen/meshes/jokkmokk/JokkmokkTable.mtl
index f231bdf..da9c5df 100644
--- a/iai_kitchen/meshes/jokkmokk/JokkmokkTable.mtl
+++ b/iai_kitchen/meshes/jokkmokk/JokkmokkTable.mtl
@@ -2,9 +2,11 @@
 # Material Count: 1
 
 newmtl None
-Ns 500
-Ka 0.8 0.8 0.8
-Kd 0.8 0.8 0.8
-Ks 0.8 0.8 0.8
-d 1
+Ns 500.000001
+Ka 1.000000 1.000000 1.000000
+Kd 0.346704 0.158961 0.099899
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
 illum 2
diff --git a/iai_kitchen/meshes/jokkmokk/JokkmokkTable.obj b/iai_kitchen/meshes/jokkmokk/JokkmokkTable.obj
index 1c61ac9..e9accc3 100644
--- a/iai_kitchen/meshes/jokkmokk/JokkmokkTable.obj
+++ b/iai_kitchen/meshes/jokkmokk/JokkmokkTable.obj
@@ -1,16 +1,16 @@
-# Blender v2.83.4 OBJ File: ''
+# Blender v2.91.0 OBJ File: ''
 # www.blender.org
-mtllib table.mtl
+mtllib JokkmokkTable.mtl
 o JokkmokkTable_hull_1
 v -0.634761 0.352286 -0.395981
+v -0.589765 0.350682 -0.395914
+v -0.634761 0.350682 -0.395914
 v -0.589765 0.395669 0.295024
 v -0.634761 0.395669 0.295024
 v -0.589765 0.350682 0.295024
 v -0.589765 0.395669 -0.395981
 v -0.634761 0.350682 0.295024
-v -0.589765 0.350682 -0.395914
 v -0.634761 0.395669 -0.395981
-v -0.634761 0.350682 -0.395914
 vt 0.000000 0.000000
 vt 0.000098 1.000000
 vt 0.000098 0.000000
@@ -20,41 +20,42 @@ vt 1.000000 1.000000
 vt 0.000000 1.000000
 vt 1.000000 0.000000
 vt 0.000000 0.000000
-vn 0.0000 -0.0422 -0.9991
+vn -0.0000 -0.0421 -0.9991
 vn 0.0000 0.0000 1.0000
-vn 0.0000 1.0000 -0.0000
-vn 1.0000 0.0000 -0.0000
+vn 0.0000 1.0000 0.0000
+vn 1.0000 0.0000 0.0000
 vn -1.0000 0.0000 0.0000
-vn 0.0000 -1.0000 0.0000
-vn 0.0015 -0.0015 -1.0000
+vn 0.0000 -1.0000 -0.0000
+vn 0.0007 -0.0007 -1.0000
+vn 0.0007 -0.0008 -1.0000
+vn 0.0014 -0.0015 -1.0000
 vn 0.0000 0.0000 -1.0000
-vn -1.0000 -0.0001 0.0000
 usemtl None
-s off
-f 1/1/1 7/2/1 9/3/1
-f 2/4/2 3/5/2 4/6/2
-f 3/5/3 2/4/3 5/7/3
-f 2/4/4 4/6/4 5/7/4
-f 3/5/5 1/1/5 6/8/5
-f 4/6/2 3/5/2 6/8/2
-f 4/6/6 6/8/6 7/2/6
-f 1/1/7 5/7/7 7/2/7
-f 5/7/4 4/6/4 7/2/4
-f 1/1/5 3/5/5 8/9/5
-f 5/7/8 1/1/8 8/9/8
-f 3/5/3 5/7/3 8/9/3
-f 6/8/9 1/1/9 9/3/9
-f 7/2/6 6/8/6 9/3/6
+s 1
+f 1/1/1 2/2/1 3/3/1
+f 4/4/2 5/5/2 6/6/2
+f 5/5/3 4/4/3 7/7/3
+f 4/4/4 6/6/4 7/7/4
+f 5/5/5 1/1/5 8/8/5
+f 6/6/2 5/5/2 8/8/2
+f 6/6/6 8/8/6 2/2/6
+f 1/1/7 7/7/8 2/2/9
+f 7/7/4 6/6/4 2/2/4
+f 1/1/5 5/5/5 9/9/5
+f 7/7/8 1/1/7 9/9/10
+f 5/5/3 7/7/3 9/9/3
+f 8/8/5 1/1/5 3/3/5
+f 2/2/6 8/8/6 3/3/6
 o JokkmokkTable_hull_2
 v 0.589765 0.352285 -0.395981
+v 0.634761 0.350682 -0.395914
+v 0.589765 0.350682 -0.395914
 v 0.634761 0.395669 0.295024
 v 0.589765 0.395669 0.295024
 v 0.634761 0.350682 0.295024
 v 0.634761 0.395669 -0.395981
 v 0.589765 0.350682 0.295024
-v 0.634761 0.350682 -0.395914
 v 0.589765 0.395669 -0.395981
-v 0.589765 0.350682 -0.395914
 vt 0.000000 0.000000
 vt 0.000098 1.000000
 vt 0.000098 0.000000
@@ -64,44 +65,45 @@ vt 1.000000 1.000000
 vt 0.000000 1.000000
 vt 1.000000 0.000000
 vt 0.000000 0.000000
-vn 0.0000 -0.0422 -0.9991
+vn 0.0000 -0.0423 -0.9991
 vn 0.0000 0.0000 1.0000
-vn 0.0000 1.0000 -0.0000
-vn 1.0000 0.0000 -0.0000
+vn 0.0000 1.0000 0.0000
+vn 1.0000 0.0000 0.0000
 vn -1.0000 0.0000 0.0000
-vn 0.0000 -1.0000 0.0000
+vn 0.0000 -1.0000 -0.0000
+vn 0.0007 -0.0007 -1.0000
+vn 0.0007 -0.0008 -1.0000
 vn 0.0014 -0.0015 -1.0000
 vn 0.0000 0.0000 -1.0000
-vn -1.0000 0.0001 0.0000
 usemtl None
-s off
-f 10/10/10 16/11/10 18/12/10
-f 11/13/11 12/14/11 13/15/11
-f 12/14/12 11/13/12 14/16/12
-f 11/13/13 13/15/13 14/16/13
-f 12/14/14 10/10/14 15/17/14
-f 13/15/11 12/14/11 15/17/11
-f 13/15/15 15/17/15 16/11/15
-f 10/10/16 14/16/16 16/11/16
-f 14/16/13 13/15/13 16/11/13
-f 10/10/14 12/14/14 17/18/14
-f 14/16/17 10/10/17 17/18/17
-f 12/14/12 14/16/12 17/18/12
-f 15/17/18 10/10/18 18/12/18
-f 16/11/15 15/17/15 18/12/15
+s 1
+f 10/10/11 11/11/11 12/12/11
+f 13/13/12 14/14/12 15/15/12
+f 14/14/13 13/13/13 16/16/13
+f 13/13/14 15/15/14 16/16/14
+f 14/14/15 10/10/15 17/17/15
+f 15/15/12 14/14/12 17/17/12
+f 15/15/16 17/17/16 11/11/16
+f 10/10/17 16/16/18 11/11/19
+f 16/16/14 15/15/14 11/11/14
+f 10/10/15 14/14/15 18/18/15
+f 16/16/18 10/10/17 18/18/20
+f 14/14/13 16/16/13 18/18/13
+f 17/17/15 10/10/15 12/12/15
+f 11/11/16 17/17/16 12/12/16
 o JokkmokkTable_hull_3
-v -0.588163 -0.349975 0.394559
-v -0.639577 -0.401393 0.372147
+v -0.589774 -0.396571 -0.395981
+v -0.589774 -0.351580 -0.395981
+v -0.588163 -0.367648 0.296614
 v -0.588163 -0.401393 0.372147
+v -0.639577 -0.401393 0.372147
 v -0.634755 -0.351580 -0.395981
-v -0.589774 -0.396571 -0.395981
 v -0.639577 -0.349975 0.396265
-v -0.589774 -0.351580 -0.395981
 v -0.634755 -0.396571 -0.395981
+v -0.588163 -0.349975 0.394559
 v -0.588163 -0.401393 0.396265
 v -0.639577 -0.401393 0.396265
 v -0.628328 -0.349975 0.296536
-v -0.588163 -0.367648 0.296614
 vt 0.000000 0.093783
 vt 0.000000 0.968772
 vt 0.874217 0.656290
@@ -115,56 +117,65 @@ vt 1.000000 0.000000
 vt 1.000000 0.000000
 vt 0.874119 1.000000
 vn 1.0000 0.0000 -0.0023
+vn 1.0000 0.0081 -0.0021
+vn 1.0000 0.0033 -0.0023
+vn 0.0000 -1.0000 -0.0031
 vn 0.0000 -1.0000 -0.0063
-vn -1.0000 0.0029 -0.0061
+vn -1.0000 0.0020 -0.0062
+vn -1.0000 -0.0014 -0.0048
+vn -1.0000 0.0005 -0.0010
 vn 0.0000 0.0000 -1.0000
 vn -1.0000 0.0000 -0.0063
+vn 1.0000 -0.0031 -0.0013
 vn 1.0000 -0.0000 0.0000
 vn 0.0000 -1.0000 0.0000
 vn 0.0331 0.0331 0.9989
 vn 0.0000 0.0000 1.0000
 vn -1.0000 0.0000 0.0000
 vn 0.0000 1.0000 0.0000
+vn 0.0041 1.0000 -0.0016
+vn 0.0006 1.0000 -0.0013
 vn -0.0190 0.9998 -0.0021
-vn 0.0050 1.0000 -0.0020
+vn 0.0036 1.0000 -0.0021
 vn 0.0000 1.0000 -0.0023
+vn 1.0000 -0.0011 -0.0005
 vn 1.0000 -0.0048 -0.0021
 vn 0.9999 0.0114 -0.0021
 usemtl None
-s off
-f 23/19/19 25/20/19 30/21/19
-f 21/22/20 20/23/20 23/19/20
-f 22/24/21 20/23/21 24/25/21
-f 23/19/22 22/24/22 25/20/22
-f 20/23/23 22/24/23 26/26/23
-f 22/24/22 23/19/22 26/26/22
-f 23/19/20 20/23/20 26/26/20
-f 21/22/24 19/27/24 27/28/24
-f 20/23/25 21/22/25 27/28/25
-f 19/27/26 24/25/26 27/28/26
-f 27/28/27 24/25/27 28/29/27
-f 24/25/28 20/23/28 28/29/28
-f 20/23/25 27/28/25 28/29/25
-f 24/25/29 19/27/29 29/30/29
-f 22/24/30 24/25/30 29/30/30
-f 19/27/31 25/20/31 29/30/31
-f 25/20/32 22/24/32 29/30/32
-f 19/27/24 21/22/24 30/21/24
-f 21/22/33 23/19/33 30/21/33
-f 25/20/34 19/27/34 30/21/34
+s 1
+f 19/19/21 20/20/22 21/21/23
+f 22/22/24 23/23/24 19/19/25
+f 24/24/26 23/23/27 25/25/28
+f 19/19/29 24/24/29 20/20/29
+f 23/23/27 24/24/26 26/26/30
+f 24/24/29 19/19/29 26/26/29
+f 19/19/25 23/23/24 26/26/25
+f 22/22/31 27/27/32 28/28/32
+f 23/23/24 22/22/24 28/28/33
+f 27/27/34 25/25/34 28/28/34
+f 28/28/35 25/25/35 29/29/35
+f 25/25/28 23/23/27 29/29/36
+f 23/23/24 28/28/33 29/29/33
+f 25/25/37 27/27/38 30/30/39
+f 24/24/40 25/25/40 30/30/40
+f 27/27/38 20/20/41 30/30/39
+f 20/20/41 24/24/42 30/30/39
+f 27/27/32 22/22/31 21/21/43
+f 22/22/31 19/19/44 21/21/43
+f 20/20/22 27/27/45 21/21/23
 o JokkmokkTable_hull_4
-v 0.588158 -0.349970 0.396264
-v -0.588158 -0.390138 0.296631
+v -0.588158 -0.367648 0.296631
+v -0.588158 -0.349975 0.394646
+v 0.588158 -0.349970 0.394646
 v -0.588158 -0.401388 0.372156
+v -0.588158 -0.390138 0.296631
 v 0.588158 -0.401393 0.372156
+v 0.588158 -0.349970 0.396264
 v 0.588158 -0.367653 0.296631
-v -0.588158 -0.349975 0.394646
 v -0.588158 -0.401388 0.396265
-v -0.588158 -0.367648 0.296631
 v 0.588158 -0.390138 0.296631
 v 0.588158 -0.401393 0.396264
 v -0.588158 -0.349975 0.396265
-v 0.588158 -0.349970 0.394646
 vt 0.000000 0.000000
 vt 0.000000 0.983751
 vt 1.000000 0.983751
@@ -177,54 +188,55 @@ vt 0.000000 1.000000
 vt 1.000000 0.000000
 vt 1.000000 1.000000
 vt 0.000000 1.000000
+vn -0.0000 0.9841 -0.1775
 vn -0.0000 0.9841 -0.1774
 vn -0.0000 -0.9891 -0.1473
-vn 1.0000 0.0000 0.0000
+vn -0.0000 -0.9891 -0.1474
+vn 1.0000 -0.0000 0.0000
 vn -1.0000 -0.0000 0.0000
 vn -0.0000 -1.0000 0.0000
 vn -0.0000 0.0000 -1.0000
-vn -0.0000 -0.9891 -0.1474
 vn 0.0000 0.0000 1.0000
 vn -0.0000 1.0000 0.0000
-vn 0.0000 0.9841 -0.1775
+vn 1.0000 0.0001 -0.0000
 usemtl None
-s off
-f 38/31/35 36/32/35 42/33/35
-f 33/34/36 32/35/36 34/36/36
-f 31/37/37 34/36/37 35/38/37
-f 32/35/38 33/34/38 36/32/38
-f 36/32/38 33/34/38 37/39/38
-f 33/34/39 34/36/39 37/39/39
-f 35/38/40 32/35/40 38/31/40
-f 32/35/38 36/32/38 38/31/38
-f 34/36/41 32/35/41 39/40/41
-f 35/38/37 34/36/37 39/40/37
-f 32/35/40 35/38/40 39/40/40
-f 34/36/37 31/37/37 40/41/37
-f 37/39/39 34/36/39 40/41/39
-f 31/37/42 37/39/42 40/41/42
-f 31/37/43 36/32/43 41/42/43
-f 36/32/38 37/39/38 41/42/38
-f 37/39/42 31/37/42 41/42/42
-f 31/37/37 35/38/37 42/33/37
-f 36/32/43 31/37/43 42/33/43
-f 35/38/44 38/31/44 42/33/44
+s 1
+f 31/31/46 32/32/47 33/33/46
+f 34/34/48 35/35/48 36/36/49
+f 37/37/50 36/36/50 38/38/50
+f 35/35/51 34/34/51 32/32/51
+f 32/32/51 34/34/51 39/39/51
+f 34/34/52 36/36/52 39/39/52
+f 38/38/53 35/35/53 31/31/53
+f 35/35/51 32/32/51 31/31/51
+f 36/36/49 35/35/48 40/40/49
+f 38/38/50 36/36/50 40/40/50
+f 35/35/53 38/38/53 40/40/53
+f 36/36/50 37/37/50 41/41/50
+f 39/39/52 36/36/52 41/41/52
+f 37/37/54 39/39/54 41/41/54
+f 37/37/55 32/32/55 42/42/55
+f 32/32/51 39/39/51 42/42/51
+f 39/39/54 37/37/54 42/42/54
+f 37/37/50 38/38/50 33/33/56
+f 32/32/55 37/37/55 33/33/55
+f 38/38/46 31/31/46 33/33/46
 o JokkmokkTable_hull_5
-v 0.589779 0.350651 0.295034
+v 0.639572 0.365141 0.372146
+v 0.639572 -0.349970 0.372156
+v 0.634751 0.350651 0.295034
 v 0.639572 0.289542 0.396264
 v 0.639572 0.365141 0.396245
 v 0.588163 0.289542 0.396264
-v 0.628329 -0.349970 0.296639
 v 0.604232 -0.349970 0.396264
-v 0.634751 0.365141 0.295034
 v 0.639572 -0.349970 0.396264
+v 0.628329 -0.349970 0.296639
+v 0.589779 0.350651 0.295034
 v 0.605843 -0.349970 0.296639
 v 0.588163 0.072615 0.394639
 v 0.588163 0.365141 0.396245
-v 0.639572 -0.349970 0.372156
-v 0.639572 0.365141 0.372146
+v 0.634751 0.365141 0.295034
 v 0.589779 0.365141 0.295034
-v 0.634751 0.350651 0.295034
 vt 1.000000 0.761746
 vt 0.000000 0.761844
 vt 0.979738 0.000000
@@ -241,62 +253,66 @@ vt 1.000000 0.999804
 vt 1.000000 0.000000
 vt 1.000000 0.000000
 vn 0.9981 -0.0000 -0.0624
+vn 0.0000 0.0001 1.0000
 vn 0.0000 0.0003 1.0000
-vn 0.0000 0.0000 1.0000
+vn 0.0000 -0.0000 1.0000
+vn 1.0000 -0.0000 -0.0003
 vn 1.0000 -0.0000 -0.0007
-vn 0.0000 -1.0000 0.0000
+vn 1.0000 0.0000 -0.0005
+vn 0.0000 -1.0000 -0.0000
+vn 0.0000 -0.0011 -1.0000
 vn 0.0000 -0.0023 -1.0000
 vn -0.9991 -0.0381 -0.0162
 vn -0.2857 -0.0072 0.9583
 vn -0.9965 -0.0230 -0.0805
-vn -1.0000 -0.0000 0.0000
+vn -1.0000 0.0000 0.0000
 vn 0.0000 1.0000 0.0000
-vn 1.0000 -0.0000 0.0000
+vn 1.0000 0.0000 0.0000
 vn 0.0000 0.0000 -1.0000
 vn -0.9999 0.0000 -0.0162
 vn -0.9999 0.0001 -0.0160
 vn 0.9891 -0.0094 -0.1473
 usemtl None
-s off
-f 55/43/45 54/44/45 57/45/45
-f 44/46/46 45/47/46 46/48/46
-f 44/46/47 46/48/47 48/49/47
-f 45/47/48 44/46/48 50/50/48
-f 44/46/47 48/49/47 50/50/47
-f 48/49/49 47/51/49 50/50/49
-f 43/52/50 47/51/50 51/53/50
-f 47/51/49 48/49/49 51/53/49
-f 51/53/51 48/49/51 52/54/51
-f 48/49/52 46/48/52 52/54/52
-f 43/52/53 51/53/53 52/54/53
-f 52/54/54 46/48/54 53/55/54
-f 46/48/46 45/47/46 53/55/46
-f 45/47/55 49/56/55 53/55/55
-f 50/50/49 47/51/49 54/44/49
-f 45/47/56 50/50/56 54/44/56
-f 49/56/55 45/47/55 55/43/55
-f 45/47/56 54/44/56 55/43/56
-f 49/56/57 43/52/57 56/57/57
-f 43/52/58 52/54/58 56/57/58
-f 52/54/59 53/55/59 56/57/59
-f 53/55/55 49/56/55 56/57/55
-f 47/51/50 43/52/50 57/45/50
-f 43/52/57 49/56/57 57/45/57
-f 54/44/60 47/51/60 57/45/60
-f 49/56/45 55/43/45 57/45/45
+s 1
+f 43/43/57 44/44/57 45/45/57
+f 46/46/58 47/47/59 48/48/58
+f 46/46/58 48/48/58 49/49/60
+f 47/47/61 46/46/62 50/50/63
+f 46/46/58 49/49/60 50/50/60
+f 49/49/64 51/51/64 50/50/64
+f 52/52/65 51/51/66 53/53/66
+f 51/51/64 49/49/64 53/53/64
+f 53/53/67 49/49/67 54/54/67
+f 49/49/68 48/48/68 54/54/68
+f 52/52/69 53/53/69 54/54/69
+f 54/54/70 48/48/70 55/55/70
+f 48/48/58 47/47/59 55/55/59
+f 47/47/71 56/56/71 55/55/71
+f 50/50/64 51/51/64 44/44/64
+f 47/47/61 50/50/63 44/44/72
+f 56/56/71 47/47/71 43/43/71
+f 47/47/61 44/44/72 43/43/72
+f 56/56/73 52/52/65 57/57/73
+f 52/52/74 54/54/75 57/57/75
+f 54/54/75 55/55/75 57/57/75
+f 55/55/71 56/56/71 57/57/71
+f 51/51/66 52/52/65 45/45/65
+f 52/52/65 56/56/73 45/45/65
+f 44/44/76 51/51/76 45/45/76
+f 56/56/57 43/43/57 45/45/57
 o JokkmokkTable_hull_6
+v 0.634755 -0.351581 -0.395981
+v 0.639577 -0.349975 0.396264
+v 0.639577 -0.401393 0.372147
+v 0.589774 -0.351581 -0.395981
 v 0.628328 -0.349975 0.296536
-v 0.588163 -0.401393 0.372147
-v 0.588163 -0.390143 0.296613
 v 0.634755 -0.396571 -0.395981
-v 0.589774 -0.351581 -0.395981
-v 0.639577 -0.401393 0.396264
-v 0.634755 -0.351581 -0.395981
+v 0.588163 -0.390143 0.296613
+v 0.588163 -0.401393 0.372147
 v 0.588163 -0.349975 0.396264
 v 0.589774 -0.396571 -0.395981
-v 0.639577 -0.349975 0.396264
+v 0.639577 -0.401393 0.396264
 v 0.588163 -0.401393 0.396264
-v 0.639577 -0.401393 0.372147
 vt 0.000000 0.968772
 vt 1.000000 1.000000
 vt 0.969558 0.000000
@@ -309,14 +325,21 @@ vt 1.000000 1.000000
 vt 0.000000 0.093783
 vt 1.000000 0.000000
 vt 1.000000 0.000000
-vn 1.0000 0.0029 -0.0061
+vn 1.0000 0.0021 -0.0062
+vn 1.0000 0.0005 -0.0010
+vn 1.0000 -0.0014 -0.0048
+vn -0.0037 1.0000 -0.0021
+vn -0.0006 1.0000 -0.0013
 vn 0.0000 1.0000 -0.0023
 vn 0.0000 0.0000 -1.0000
-vn -1.0000 -0.0000 0.0000
-vn -0.0051 1.0000 -0.0020
-vn -1.0000 0.0051 -0.0020
+vn -1.0000 0.0006 -0.0013
+vn -1.0000 0.0000 0.0000
+vn -1.0000 0.0037 -0.0014
+vn -0.0041 1.0000 -0.0016
+vn -1.0000 0.0036 -0.0021
 vn -0.9999 -0.0147 -0.0022
 vn 0.0000 -1.0000 -0.0063
+vn 0.0000 -1.0000 -0.0031
 vn -1.0000 0.0000 -0.0023
 vn 0.0190 0.9998 -0.0021
 vn 0.0000 1.0000 0.0000
@@ -325,46 +348,46 @@ vn 0.0000 -1.0000 0.0000
 vn 1.0000 0.0000 -0.0063
 vn 1.0000 0.0000 0.0000
 usemtl None
-s off
-f 64/58/61 67/59/61 69/60/61
-f 62/61/62 58/62/62 64/58/62
-f 61/63/63 62/61/63 64/58/63
-f 60/64/64 59/65/64 65/66/64
-f 58/62/65 62/61/65 65/66/65
-f 62/61/66 60/64/66 65/66/66
-f 59/65/67 60/64/67 66/67/67
-f 61/63/68 59/65/68 66/67/68
-f 62/61/63 61/63/63 66/67/63
-f 60/64/69 62/61/69 66/67/69
-f 64/58/70 58/62/70 67/59/70
-f 58/62/71 65/66/71 67/59/71
-f 65/66/72 63/68/72 67/59/72
-f 59/65/73 63/68/73 68/69/73
-f 65/66/64 59/65/64 68/69/64
-f 63/68/72 65/66/72 68/69/72
-f 59/65/68 61/63/68 69/60/68
-f 63/68/73 59/65/73 69/60/73
-f 61/63/74 64/58/74 69/60/74
-f 67/59/75 63/68/75 69/60/75
+s 1
+f 58/58/77 59/59/78 60/60/79
+f 61/61/80 62/62/81 58/58/82
+f 63/63/83 61/61/83 58/58/83
+f 64/64/84 65/65/85 66/66/86
+f 62/62/81 61/61/80 66/66/87
+f 61/61/88 64/64/84 66/66/86
+f 65/65/89 64/64/89 67/67/89
+f 63/63/90 65/65/91 67/67/90
+f 61/61/83 63/63/83 67/67/83
+f 64/64/84 61/61/88 67/67/92
+f 58/58/93 62/62/93 59/59/93
+f 62/62/81 66/66/87 59/59/94
+f 66/66/95 68/68/95 59/59/95
+f 65/65/91 68/68/96 69/69/96
+f 66/66/86 65/65/85 69/69/85
+f 68/68/95 66/66/95 69/69/95
+f 65/65/91 63/63/90 60/60/91
+f 68/68/96 65/65/91 60/60/91
+f 63/63/97 58/58/77 60/60/79
+f 59/59/78 68/68/98 60/60/79
 o JokkmokkTable_hull_7
-v -0.589779 0.350643 0.295034
+v -0.589779 0.395623 0.295034
+v -0.639572 0.402102 0.372146
+v -0.588163 0.402102 0.372146
 v -0.588163 0.289541 0.396265
 v -0.639572 0.289541 0.396265
-v -0.605843 -0.349969 0.296639
-v -0.634750 0.395623 0.295034
 v -0.639572 -0.349969 0.396265
+v -0.605843 -0.349969 0.296639
 v -0.604232 -0.349969 0.396265
+v -0.589779 0.350643 0.295034
 v -0.628329 -0.349969 0.296639
 v -0.588163 0.402102 0.396245
 v -0.588163 0.072666 0.394640
 v -0.639572 0.402102 0.396245
 v -0.639572 -0.349969 0.372156
 v -0.588163 0.390838 0.296659
-v -0.639572 0.402102 0.372146
 v -0.588163 0.366692 0.296659
-v -0.589779 0.395623 0.295034
+v -0.634750 0.395623 0.295034
 v -0.634750 0.350643 0.295034
-v -0.588163 0.402102 0.372146
 vt 0.991386 0.000000
 vt 1.000000 0.761746
 vt 1.000000 0.761746
@@ -384,70 +407,74 @@ vt 0.952917 0.016053
 vt 0.991386 0.000000
 vt 0.931578 0.000000
 vn 0.0000 0.9965 -0.0837
-vn 0.0000 0.0000 1.0000
-vn 0.0000 -1.0000 0.0000
+vn 0.0000 0.0001 1.0000
+vn 0.0000 -0.0000 1.0000
+vn 0.0000 -1.0000 -0.0000
+vn 0.0000 -0.0011 -1.0000
 vn 0.0000 -0.0023 -1.0000
 vn 0.0000 0.0002 1.0000
 vn 0.9991 -0.0381 -0.0162
 vn 0.2858 -0.0072 0.9583
-vn 1.0000 0.0000 -0.0000
-vn -1.0000 0.0000 0.0011
+vn 1.0000 0.0000 0.0000
+vn -1.0000 0.0000 0.0008
+vn -1.0000 0.0000 0.0012
+vn -1.0000 0.0000 0.0005
 vn -1.0000 0.0000 0.0000
 vn 0.0000 1.0000 0.0000
-vn 0.7996 -0.0197 -0.6002
+vn 0.7994 -0.0197 -0.6004
 vn 0.9970 -0.0246 -0.0738
-vn 0.7092 0.0000 -0.7050
+vn 0.7091 0.0000 -0.7051
 vn 0.0000 0.0000 -1.0000
 vn -0.9891 -0.0094 -0.1473
-vn -0.9981 0.0000 -0.0624
-vn 0.9511 0.3056 -0.0456
+vn -0.9981 -0.0000 -0.0624
+vn 0.9510 0.3057 -0.0456
 usemtl None
-s off
-f 85/70/76 83/71/76 87/72/76
-f 71/73/77 72/74/77 75/75/77
-f 75/75/78 73/76/78 76/77/78
-f 71/73/77 75/75/77 76/77/77
-f 70/78/79 73/76/79 77/79/79
-f 73/76/78 75/75/78 77/79/78
-f 72/74/80 71/73/80 78/80/80
-f 76/77/81 73/76/81 79/81/81
-f 71/73/82 76/77/82 79/81/82
-f 78/80/83 71/73/83 79/81/83
-f 75/75/84 72/74/84 80/82/84
-f 72/74/80 78/80/80 80/82/80
-f 77/79/78 75/75/78 81/83/78
-f 75/75/85 80/82/85 81/83/85
-f 78/80/83 79/81/83 82/84/83
-f 80/82/86 78/80/86 83/71/86
-f 81/83/85 80/82/85 83/71/85
-f 73/76/87 70/78/87 84/85/87
-f 79/81/88 73/76/88 84/85/88
-f 70/78/89 82/84/89 84/85/89
-f 82/84/83 79/81/83 84/85/83
-f 70/78/90 74/86/90 85/70/90
-f 82/84/89 70/78/89 85/70/89
-f 74/86/76 83/71/76 85/70/76
-f 74/86/90 70/78/90 86/87/90
-f 70/78/79 77/79/79 86/87/79
-f 77/79/91 81/83/91 86/87/91
-f 83/71/92 74/86/92 86/87/92
-f 81/83/92 83/71/92 86/87/92
-f 78/80/83 82/84/83 87/72/83
-f 83/71/86 78/80/86 87/72/86
-f 82/84/93 85/70/93 87/72/93
+s 1
+f 70/70/99 71/71/99 72/72/99
+f 73/73/100 74/74/100 75/75/101
+f 75/75/102 76/76/102 77/77/102
+f 73/73/100 75/75/101 77/77/101
+f 78/78/103 76/76/104 79/79/104
+f 76/76/102 75/75/102 79/79/102
+f 74/74/100 73/73/100 80/80/105
+f 77/77/106 76/76/106 81/81/106
+f 73/73/107 77/77/107 81/81/107
+f 80/80/108 73/73/108 81/81/108
+f 75/75/109 74/74/110 82/82/111
+f 74/74/100 80/80/105 82/82/105
+f 79/79/102 75/75/102 83/83/102
+f 75/75/109 82/82/111 83/83/112
+f 80/80/108 81/81/108 84/84/108
+f 82/82/113 80/80/113 71/71/113
+f 83/83/112 82/82/111 71/71/112
+f 76/76/114 78/78/114 85/85/114
+f 81/81/115 76/76/115 85/85/115
+f 78/78/116 84/84/116 85/85/116
+f 84/84/108 81/81/108 85/85/108
+f 78/78/103 86/86/117 70/70/117
+f 84/84/116 78/78/116 70/70/116
+f 86/86/99 71/71/99 70/70/99
+f 86/86/117 78/78/103 87/87/103
+f 78/78/103 79/79/104 87/87/103
+f 79/79/118 83/83/118 87/87/118
+f 71/71/119 86/86/119 87/87/119
+f 83/83/119 71/71/119 87/87/119
+f 80/80/108 84/84/108 72/72/108
+f 71/71/113 80/80/113 72/72/113
+f 84/84/120 70/70/120 72/72/120
 o JokkmokkTable_hull_8
-v -0.604110 -0.349900 0.394658
-v 0.588141 0.365141 0.396264
+v -0.588140 0.365141 0.396265
+v -0.604110 0.072615 0.394658
+v -0.604110 0.072615 0.396265
 v 0.604110 0.072615 0.396264
+v 0.588141 0.365141 0.396264
 v -0.604110 -0.349900 0.396265
+v -0.604110 -0.349900 0.394658
 v 0.604110 -0.349970 0.394658
 v -0.588140 0.365141 0.394658
 v 0.588141 0.365141 0.394658
-v -0.588140 0.365141 0.396265
 v 0.604110 -0.349970 0.396264
-v -0.604110 0.072615 0.394658
 v 0.604110 0.072615 0.394658
-v -0.604110 0.072615 0.396265
 vt 0.013217 1.000000
 vt 0.000000 0.590936
 vt 0.000000 0.590936
@@ -461,7 +488,7 @@ vt 0.986783 1.000000
 vt 1.000000 0.000000
 vt 1.000000 0.590936
 vn -0.9985 0.0545 0.0000
-vn 0.0000 0.0000 1.0000
+vn 0.0000 -0.0000 1.0000
 vn -0.0001 -1.0000 0.0000
 vn -0.0000 0.0000 -1.0000
 vn 0.9985 0.0545 0.0000
@@ -469,41 +496,41 @@ vn 0.0000 1.0000 0.0000
 vn 1.0000 -0.0000 0.0000
 vn -1.0000 0.0000 0.0000
 usemtl None
-s off
-f 95/88/94 97/89/94 99/90/94
-f 90/91/95 89/92/95 91/93/95
-f 91/93/96 88/94/96 92/95/96
-f 92/95/97 88/94/97 93/96/97
-f 92/95/97 93/96/97 94/97/97
-f 89/92/98 90/91/98 94/97/98
-f 93/96/99 89/92/99 94/97/99
-f 91/93/95 89/92/95 95/88/95
-f 89/92/99 93/96/99 95/88/99
-f 90/91/95 91/93/95 96/98/95
-f 91/93/96 92/95/96 96/98/96
-f 92/95/100 90/91/100 96/98/100
-f 88/94/101 91/93/101 97/89/101
-f 93/96/97 88/94/97 97/89/97
-f 95/88/94 93/96/94 97/89/94
-f 90/91/100 92/95/100 98/99/100
-f 92/95/97 94/97/97 98/99/97
-f 94/97/98 90/91/98 98/99/98
-f 91/93/95 95/88/95 99/90/95
-f 97/89/101 91/93/101 99/90/101
+s 1
+f 88/88/121 89/89/121 90/90/121
+f 91/91/122 92/92/122 93/93/122
+f 93/93/123 94/94/123 95/95/123
+f 95/95/124 94/94/124 96/96/124
+f 95/95/124 96/96/124 97/97/124
+f 92/92/125 91/91/125 97/97/125
+f 96/96/126 92/92/126 97/97/126
+f 93/93/122 92/92/122 88/88/122
+f 92/92/126 96/96/126 88/88/126
+f 91/91/122 93/93/122 98/98/122
+f 93/93/123 95/95/123 98/98/123
+f 95/95/127 91/91/127 98/98/127
+f 94/94/128 93/93/128 89/89/128
+f 96/96/124 94/94/124 89/89/124
+f 88/88/121 96/96/121 89/89/121
+f 91/91/127 95/95/127 99/99/127
+f 95/95/124 97/97/124 99/99/124
+f 97/97/125 91/91/125 99/99/125
+f 93/93/122 88/88/122 90/90/122
+f 89/89/128 93/93/128 90/90/128
 o JokkmokkTable_hull_9
-v 0.639582 0.395672 0.396264
-v 0.589708 0.365141 0.295034
+v 0.639582 0.402101 0.372146
+v 0.634655 0.365141 0.295034
+v 0.634655 0.395672 0.295034
 v 0.589708 0.395672 0.295034
-v -0.588158 0.365141 0.396265
+v 0.589708 0.365141 0.295034
 v -0.588158 0.390846 0.296639
+v -0.588158 0.365141 0.396265
+v 0.639582 0.395672 0.396264
 v -0.588158 0.402102 0.396265
 v 0.639582 0.365141 0.396245
 v -0.588158 0.366751 0.296639
-v 0.639582 0.402101 0.372146
 v -0.588158 0.402102 0.372156
-v 0.634655 0.365141 0.295034
 v 0.639582 0.402101 0.396264
-v 0.634655 0.395672 0.295034
 vt 1.000000 0.761746
 vt 0.995987 0.000000
 vt 0.995987 0.000000
@@ -518,39 +545,41 @@ vt 0.000000 0.015857
 vt 0.000000 0.761844
 vt 1.000000 1.000000
 vn 0.9980 0.0000 -0.0638
+vn -0.0000 0.0000 -1.0000
+vn -0.0013 0.0000 -1.0000
 vn -0.0014 0.0000 -1.0000
-vn 0.0000 0.0000 1.0000
-vn -1.0000 0.0000 0.0000
-vn -0.0000 -1.0000 -0.0000
+vn -0.0000 -0.0003 1.0000
+vn -0.0000 0.0000 1.0000
+vn -1.0000 -0.0000 0.0000
+vn -0.0000 -1.0000 0.0000
 vn 0.0000 -0.0006 1.0000
 vn -0.0014 -0.9999 -0.0162
 vn 1.0000 0.0000 0.0000
 vn -0.0043 0.9891 -0.1474
-vn -0.0000 0.9965 -0.0831
+vn 0.0000 0.9965 -0.0831
 vn 0.0000 1.0000 0.0000
-vn 0.0000 0.0000 -1.0000
 vn 0.9983 -0.0317 -0.0486
 usemtl None
-s off
-f 108/100/102 110/101/102 112/102/102
-f 102/103/103 101/104/103 104/105/103
-f 103/106/104 100/107/104 105/108/104
-f 104/105/105 103/106/105 105/108/105
-f 103/106/106 101/104/106 106/109/106
-f 100/107/107 103/106/107 106/109/107
-f 101/104/108 103/106/108 107/110/108
-f 103/106/105 104/105/105 107/110/105
-f 104/105/103 101/104/103 107/110/103
-f 100/107/109 106/109/109 108/100/109
-f 102/103/110 104/105/110 109/111/110
-f 104/105/105 105/108/105 109/111/105
-f 108/100/111 102/103/111 109/111/111
-f 105/108/112 108/100/112 109/111/112
-f 101/104/113 102/103/113 110/101/113
-f 106/109/106 101/104/106 110/101/106
-f 108/100/114 106/109/114 110/101/114
-f 105/108/104 100/107/104 111/112/104
-f 100/107/109 108/100/109 111/112/109
-f 108/100/112 105/108/112 111/112/112
-f 102/103/111 108/100/111 112/102/111
-f 110/101/113 102/103/113 112/102/113
+s 1
+f 100/100/129 101/101/129 102/102/129
+f 103/103/130 104/104/131 105/105/132
+f 106/106/133 107/107/134 108/108/134
+f 105/105/135 106/106/135 108/108/135
+f 106/106/136 104/104/136 109/109/136
+f 107/107/134 106/106/133 109/109/137
+f 104/104/138 106/106/138 110/110/138
+f 106/106/135 105/105/135 110/110/135
+f 105/105/132 104/104/131 110/110/132
+f 107/107/139 109/109/139 100/100/139
+f 103/103/140 105/105/140 111/111/140
+f 105/105/135 108/108/135 111/111/135
+f 100/100/141 103/103/141 111/111/141
+f 108/108/142 100/100/142 111/111/142
+f 104/104/131 103/103/130 101/101/130
+f 109/109/136 104/104/136 101/101/136
+f 100/100/143 109/109/143 101/101/143
+f 108/108/134 107/107/134 112/112/134
+f 107/107/139 100/100/139 112/112/139
+f 100/100/142 108/108/142 112/112/142
+f 103/103/141 100/100/141 102/102/141
+f 101/101/130 103/103/130 102/102/130
diff --git a/iai_kitchen/urdf/iai_kitchen_python.urdf b/iai_kitchen/urdf/iai_kitchen_python.urdf
new file mode 100644
index 0000000..8deed82
--- /dev/null
+++ b/iai_kitchen/urdf/iai_kitchen_python.urdf
@@ -0,0 +1,3202 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from iai_kitchen_python.urdf.xacro  | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="iai_kitchen" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!--- FIXME THIS should NOT be here -->
+  <!--
+      <link name="map">
+      
+      <sphere_inertia radius="0" mass="0"/>
+      </link>
+      <iai_drawer_60_14 name="drawer_1" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 1"/>
+      </iai_drawer_60_14>
+      
+      <iai_drawer_80_14 name="drawer_2" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 2"/>
+      </iai_drawer_80_14>
+      
+      <iai_drawer_60_29 name="drawer_3" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 3"/>
+      </iai_drawer_60_29>
+      
+      <iai_drawer_80_29 name="drawer_4" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 4"/>
+      </iai_drawer_80_29>
+      
+      <iai_drawer_100_29 name="drawer_5" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 5"/>
+      </iai_drawer_100_29>
+  -->
+  <!--- FIXME THIS should NOT be here -->
+  <!--
+  <link name="oven_footprint">
+    
+    <sphere_inertia radius="0" mass="0"/>
+  </link>
+  <iai_oven name="iai_oven" parent="oven_footprint"/>
+  -->
+  <!--- FIXME THIS should NOT be here -->
+  <!--
+      <link name="map">
+      
+      <sphere_inertia radius="0" mass="0"/>
+      </link>
+      <iai_drawer_60_14 name="drawer_1" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 1"/>
+      </iai_drawer_60_14>
+      
+      <iai_drawer_80_14 name="drawer_2" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 2"/>
+      </iai_drawer_80_14>
+      
+      <iai_drawer_60_29 name="drawer_3" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 3"/>
+      </iai_drawer_60_29>
+      
+      <iai_drawer_80_29 name="drawer_4" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 4"/>
+      </iai_drawer_80_29>
+      
+      <iai_drawer_100_29 name="drawer_5" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 5"/>
+      </iai_drawer_100_29>
+  -->
+  <!--- FIXME THIS should NOT be here -->
+  <!--
+      <link name="map">
+      
+      <sphere_inertia radius="0" mass="0"/>
+      </link>
+      <iai_drawer_60_14 name="drawer_1" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 1"/>
+      </iai_drawer_60_14>
+      
+      <iai_drawer_80_14 name="drawer_2" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 2"/>
+      </iai_drawer_80_14>
+      
+      <iai_drawer_60_29 name="drawer_3" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 3"/>
+      </iai_drawer_60_29>
+      
+      <iai_drawer_80_29 name="drawer_4" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 4"/>
+      </iai_drawer_80_29>
+      
+      <iai_drawer_100_29 name="drawer_5" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 5"/>
+      </iai_drawer_100_29>
+  -->
+  <!--- FIXME THIS should NOT be here -->
+  <!--
+      <link name="map">
+      
+      <sphere_inertia radius="0" mass="0"/>
+      </link>
+      <iai_drawer_60_14 name="drawer_1" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 1"/>
+      </iai_drawer_60_14>
+      
+      <iai_drawer_80_14 name="drawer_2" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 2"/>
+      </iai_drawer_80_14>
+      
+      <iai_drawer_60_29 name="drawer_3" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 3"/>
+      </iai_drawer_60_29>
+      
+      <iai_drawer_80_29 name="drawer_4" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 4"/>
+      </iai_drawer_80_29>
+      
+      <iai_drawer_100_29 name="drawer_5" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 5"/>
+      </iai_drawer_100_29>
+  -->
+  <link name="room_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+  </link>
+  <link name="world"/>
+  <joint name="world_room_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.03 0 "/>
+    <parent link="world"/>
+    <child link="room_link"/>
+  </joint>
+  <link name="sink_area_footprint">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+  </link>
+  <link name="sink_area">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_footprint_joint" type="fixed">
+    <origin rpy="0 0 3.14159265359" xyz="1.855 1.3 0"/>
+    <child link="sink_area_footprint"/>
+    <parent link="room_link"/>
+  </joint>
+  <joint name="sink_area_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.29 1.03 0.41"/>
+    <parent link="sink_area_footprint"/>
+    <child link="sink_area"/>
+  </joint>
+  <link name="sink_area_surface">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.225 0"/>
+      <geometry>
+        <box size="0.575 1.6 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_surface_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0. 0.43"/>
+    <parent link="sink_area"/>
+    <child link="sink_area_surface"/>
+  </joint>
+  <link name="sink_area_sink">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/Sink.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/Sink.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_sink_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.47 0.4414"/>
+    <parent link="sink_area"/>
+    <child link="sink_area_sink"/>
+  </joint>
+  <link name="sink_area_right_panel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_right_panel_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.28 0.7 0.355 "/>
+    <parent link="sink_area"/>
+    <child link="sink_area_right_panel"/>
+  </joint>
+  <link name="sink_area_trash_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_trash_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_trash_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.01 0.7 -0.015 "/>
+    <parent link="sink_area"/>
+    <child link="sink_area_trash_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="sink_area_trash_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.37 0 0.25"/>
+    <parent link="sink_area_trash_drawer_main"/>
+    <child link="sink_area_trash_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="sink_area_left_upper_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_14.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_14.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_left_upper_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_left_upper_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.01 -0.6 0.345 "/>
+    <parent link="sink_area"/>
+    <child link="sink_area_left_upper_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="sink_area_left_upper_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.0175"/>
+    <parent link="sink_area_left_upper_drawer_main"/>
+    <child link="sink_area_left_upper_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="sink_area_left_middle_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_left_middle_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_left_middle_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.01 -0.6 0.12 "/>
+    <parent link="sink_area"/>
+    <child link="sink_area_left_middle_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="sink_area_left_middle_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
+    <parent link="sink_area_left_middle_drawer_main"/>
+    <child link="sink_area_left_middle_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="sink_area_left_bottom_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_left_bottom_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_left_bottom_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.01 -0.6 -0.18"/>
+    <parent link="sink_area"/>
+    <child link="sink_area_left_bottom_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="sink_area_left_bottom_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
+    <parent link="sink_area_left_bottom_drawer_main"/>
+    <child link="sink_area_left_bottom_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="sink_area_dish_washer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_dish_washer_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0.055 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0.055 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_dish_washer_door_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <!--
+    <xacro:if value="simulated"/>
+    -->
+  <joint name="sink_area_dish_washer_main_joint" type="revolute">
+    <limit effort="300" lower="0" upper="0" velocity="10"/>
+    <origin rpy="0 0 0" xyz="0.01 0.1 0.06"/>
+    <parent link="sink_area"/>
+    <child link="sink_area_dish_washer_main"/>
+  </joint>
+  <!--
+    <xacro:if value="${simulated}">
+    <joint name="${name}_door_joint" type="revolute">
+      <origin xyz="0.27 0. -0.325" rpy="${-0.5*pi} 0 0" />
+      <parent link="${name}_main"/>
+      <child link="${name}_door"/>
+      <axis xyz="0 0 1"/>
+       FIXME make closed position stable instead of forbidding opening...
+      <limit lower="0" upper="0" effort="300" velocity="10"/>
+    </joint>
+
+    </xacro:if>
+    -->
+  <!--
+    <xacro:unless value="${simulated}">
+    -->
+  <joint name="sink_area_dish_washer_door_joint" type="revolute">
+    <origin rpy="-1.57079632679 0 0" xyz="0.27 0. -0.285"/>
+    <parent link="sink_area_dish_washer_main"/>
+    <child link="sink_area_dish_washer_door"/>
+    <axis xyz="0 0 1"/>
+    <!--
+      <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
+      -->
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <!--
+    </xacro:unless>
+  -->
+  <joint name="sink_area_dish_washer_door_handle_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 0" xyz="0.09 -0.575 0.0"/>
+    <parent link="sink_area_dish_washer_door"/>
+    <child link="sink_area_dish_washer_door_handle"/>
+  </joint>
+  <joint name="sink_area_dish_washer_tray_main" type="prismatic">
+    <origin xyz="-0.10 0 0.15"/>
+    <parent link="sink_area_dish_washer_main"/>
+    <child link="sink_area_dish_washer_tray_bottom"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="300" lower="0" upper="0.40" velocity="10"/>
+  </joint>
+  <link name="sink_area_dish_washer_tray_bottom">
+    <visual>
+      <geometry>
+        <box size="0.32 0.5 0.02"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.32 0.5 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_dish_washer_tray_left_side">
+    <visual>
+      <geometry>
+        <box size="0.32 0.005 0.17"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.32 0.005 0.17"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_dish_washer_tray_right_side">
+    <visual>
+      <geometry>
+        <box size="0.32 0.005 0.17"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.32 0.005 0.17"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_dish_washer_tray_back_side">
+    <visual>
+      <geometry>
+        <box size="0.005 0.5 0.17"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.005 0.5 0.17"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_dish_washer_tray_front_side">
+    <visual>
+      <geometry>
+        <box size="0.005 0.5 0.17"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.005 0.5 0.17"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_dish_washer_tray_bottom_left" type="fixed">
+    <origin xyz="-0.0 -0.25 0.075"/>
+    <child link="sink_area_dish_washer_tray_left_side"/>
+    <parent link="sink_area_dish_washer_tray_bottom"/>
+  </joint>
+  <joint name="sink_area_dish_washer_tray_bottom_right" type="fixed">
+    <origin xyz="-0.0 0.25 0.075"/>
+    <child link="sink_area_dish_washer_tray_right_side"/>
+    <parent link="sink_area_dish_washer_tray_bottom"/>
+  </joint>
+  <joint name="sink_area_dish_washer_tray_bottom_back" type="fixed">
+    <origin xyz="-0.16 0 0.075"/>
+    <child link="sink_area_dish_washer_tray_back_side"/>
+    <parent link="sink_area_dish_washer_tray_bottom"/>
+  </joint>
+  <joint name="sink_area_dish_washer_tray_bottom_front" type="fixed">
+    <origin xyz="0.16 0 0.075"/>
+    <child link="sink_area_dish_washer_tray_front_side"/>
+    <parent link="sink_area_dish_washer_tray_bottom"/>
+  </joint>
+  <joint name="sink_area_dish_washer_tray_handle_joint" type="fixed">
+    <origin xyz="0.025 0 -0.05"/>
+    <child link="sink_area_dish_washer_tray_handle_front_side"/>
+    <parent link="sink_area_dish_washer_tray_front_side"/>
+  </joint>
+  <link name="sink_area_dish_washer_tray_handle_left_side">
+    <visual>
+      <geometry>
+        <box size="0.03 0.01 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.03 0.01 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_dish_washer_tray_handle_right_side">
+    <visual>
+      <geometry>
+        <box size="0.03 0.01 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.03 0.01 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_dish_washer_tray_handle_front_side">
+    <visual>
+      <geometry>
+        <box size="0.01 0.4 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.01 0.4 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_dish_washer_tray_handle_front_left_joint" type="fixed">
+    <origin xyz="-0.01 -0.2 0"/>
+    <child link="sink_area_dish_washer_tray_handle_left_side"/>
+    <parent link="sink_area_dish_washer_tray_handle_front_side"/>
+  </joint>
+  <joint name="sink_area_dish_washer_tray_handle_front_right_joint" type="fixed">
+    <origin xyz="-0.01 0.2 0"/>
+    <child link="sink_area_dish_washer_tray_handle_right_side"/>
+    <parent link="sink_area_dish_washer_tray_handle_front_side"/>
+  </joint>
+  <link name="oven_area_area_footprint">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+  </link>
+  <link name="oven_area_area">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_footprint_joint" type="fixed">
+    <origin rpy="0 0 3.14159265359" xyz="1.845 2.5 0"/>
+    <child link="oven_area_area_footprint"/>
+    <parent link="room_link"/>
+  </joint>
+  <joint name="oven_area_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.29 0.6 0.755"/>
+    <parent link="oven_area_area_footprint"/>
+    <child link="oven_area_area"/>
+  </joint>
+  <!-- LINKS -->
+  <link name="oven_area_oven_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_oven_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenDoor.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenDoor.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_oven_door_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_oven_panel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenPanel.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenPanel.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- JOINTS -->
+  <joint name="oven_area_oven_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.415"/>
+    <parent link="oven_area_area"/>
+    <child link="oven_area_oven_main"/>
+  </joint>
+  <joint name="oven_area_oven_door_joint" type="revolute">
+    <origin rpy="-1.57079632679 0 0" xyz="0.2737 0. -0.2614"/>
+    <parent link="oven_area_oven_main"/>
+    <child link="oven_area_oven_door"/>
+    <axis xyz="0 0 1"/>
+    <!--
+        <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
+        -->
+    <!-- FIXME make the closed position stable -->
+    <limit effort="0.03" lower="0" upper="1.57079632679" velocity="10"/>
+    <dynamics damping="100.1"/>
+  </joint>
+  <gazebo reference="oven_area_oven_door_joint">
+    <kp>1000000000</kp>
+    <kd>1000000000</kd>
+  </gazebo>
+  <joint name="oven_area_oven_door_handle_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 0" xyz="0.05876 -0.39803 0."/>
+    <parent link="oven_area_oven_door"/>
+    <child link="oven_area_oven_door_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <joint name="oven_area_oven_panel_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.27 0 0.2449"/>
+    <parent link="oven_area_oven_main"/>
+    <child link="oven_area_oven_panel"/>
+  </joint>
+  <!--KNOBS -->
+  <link name="oven_area_oven_knob_stove_1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_oven_knob_stove_1_joint" type="revolute">
+    <origin rpy="0 -1.57079632679 0" xyz="0 -0.21 0"/>
+    <parent link="oven_area_oven_panel"/>
+    <child link="oven_area_oven_knob_stove_1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
+  </joint>
+  <link name="oven_area_oven_knob_stove_2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_oven_knob_stove_2_joint" type="revolute">
+    <origin rpy="0 -1.57079632679 0" xyz="0 -0.14 0"/>
+    <parent link="oven_area_oven_panel"/>
+    <child link="oven_area_oven_knob_stove_2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
+  </joint>
+  <link name="oven_area_oven_knob_stove_3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_oven_knob_stove_3_joint" type="revolute">
+    <origin rpy="0 -1.57079632679 0" xyz="0 -0.07 0"/>
+    <parent link="oven_area_oven_panel"/>
+    <child link="oven_area_oven_knob_stove_3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
+  </joint>
+  <link name="oven_area_oven_knob_stove_4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_oven_knob_stove_4_joint" type="revolute">
+    <origin rpy="0 -1.57079632679 0" xyz="0 -0.0 0"/>
+    <parent link="oven_area_oven_panel"/>
+    <child link="oven_area_oven_knob_stove_4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
+  </joint>
+  <link name="oven_area_oven_knob_oven">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_oven_knob_oven_joint" type="revolute">
+    <origin rpy="0 -1.57079632679 0" xyz="0 0.16 0"/>
+    <parent link="oven_area_oven_panel"/>
+    <child link="oven_area_oven_knob_oven"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
+  </joint>
+  <link name="oven_area_area_middle_upper_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_14.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_14.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_area_middle_upper_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_middle_upper_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0 -0. 0.045 "/>
+    <parent link="oven_area_area"/>
+    <child link="oven_area_area_middle_upper_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="oven_area_area_middle_upper_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.0175"/>
+    <parent link="oven_area_area_middle_upper_drawer_main"/>
+    <child link="oven_area_area_middle_upper_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="oven_area_area_middle_lower_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_area_middle_lower_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_middle_lower_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0 -0. -0.315 "/>
+    <parent link="oven_area_area"/>
+    <child link="oven_area_area_middle_lower_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="oven_area_area_middle_lower_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.37 0 0.25"/>
+    <parent link="oven_area_area_middle_lower_drawer_main"/>
+    <child link="oven_area_area_middle_lower_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <joint name="oven_area_area_left_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.29 -0.45 0.07 "/>
+    <parent link="oven_area_area"/>
+    <child link="oven_area_area_left_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.025 0.295 1.325"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.025 0.3 1.33"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_handle_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 0" xyz="0.08 0.0 0.0"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_handle"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_area_left_drawer_board_0_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.016"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.016"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_board_0_joint" type="fixed">
+    <origin xyz="-0.25 0 -0.6"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_board_0_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_0_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_0_right_joint" type="fixed">
+    <origin xyz="-0.25 -0.117 -0.567"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_0_right_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_0_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_0_left_joint" type="fixed">
+    <origin xyz="-0.25 0.117 -0.567"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_0_left_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_0_back_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.016 0.25 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.016 0.25 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_0_back_joint" type="fixed">
+    <origin xyz="-0.487 0 -0.567"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_0_back_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_board_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.016"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.016"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_board_1_joint" type="fixed">
+    <origin xyz="-0.25 0 -0.28"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_board_1_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_1_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_1_right_joint" type="fixed">
+    <origin xyz="-0.25 -0.117 -0.247"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_1_right_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_1_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_1_left_joint" type="fixed">
+    <origin xyz="-0.25 0.117 -0.247"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_1_left_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_1_back_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.016 0.25 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.016 0.25 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_1_back_joint" type="fixed">
+    <origin xyz="-0.487 0 -0.247"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_1_back_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_board_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.016"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.016"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_board_2_joint" type="fixed">
+    <origin xyz="-0.25 0 0.05"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_board_2_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_2_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_2_right_joint" type="fixed">
+    <origin xyz="-0.25 -0.117 0.083"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_2_right_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_2_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_2_left_joint" type="fixed">
+    <origin xyz="-0.25 0.117 0.083"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_2_left_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_2_back_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.016 0.25 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.016 0.25 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_2_back_joint" type="fixed">
+    <origin xyz="-0.487 0 0.083"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_2_back_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_board_3_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.016"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.016"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_board_3_joint" type="fixed">
+    <origin xyz="-0.25 0 0.38"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_board_3_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_3_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_3_right_joint" type="fixed">
+    <origin xyz="-0.25 -0.117 0.413"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_3_right_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_3_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_3_left_joint" type="fixed">
+    <origin xyz="-0.25 0.117 0.413"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_3_left_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_3_back_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.016 0.25 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.016 0.25 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_3_back_joint" type="fixed">
+    <origin xyz="-0.487 0 0.413"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_3_back_link"/>
+  </joint>
+  <joint name="oven_area_area_right_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.29 0.45 0.07"/>
+    <parent link="oven_area_area"/>
+    <child link="oven_area_area_right_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.025 0.295 1.325"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.025 0.3 1.33"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_handle_joint" type="fixed">
+    <origin rpy="-1.57079632679 0 0" xyz="0.08 0.0 0.0"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_handle"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_area_right_drawer_board_0_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.016"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.016"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_board_0_joint" type="fixed">
+    <origin xyz="-0.25 0 -0.6"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_board_0_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_0_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_0_right_joint" type="fixed">
+    <origin xyz="-0.25 -0.117 -0.567"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_0_right_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_0_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_0_left_joint" type="fixed">
+    <origin xyz="-0.25 0.117 -0.567"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_0_left_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_0_back_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.016 0.25 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.016 0.25 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_0_back_joint" type="fixed">
+    <origin xyz="-0.487 0 -0.567"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_0_back_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_board_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.016"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.016"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_board_1_joint" type="fixed">
+    <origin xyz="-0.25 0 -0.28"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_board_1_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_1_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_1_right_joint" type="fixed">
+    <origin xyz="-0.25 -0.117 -0.247"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_1_right_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_1_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_1_left_joint" type="fixed">
+    <origin xyz="-0.25 0.117 -0.247"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_1_left_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_1_back_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.016 0.25 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.016 0.25 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_1_back_joint" type="fixed">
+    <origin xyz="-0.487 0 -0.247"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_1_back_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_board_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.016"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.016"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_board_2_joint" type="fixed">
+    <origin xyz="-0.25 0 0.05"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_board_2_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_2_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_2_right_joint" type="fixed">
+    <origin xyz="-0.25 -0.117 0.083"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_2_right_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_2_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_2_left_joint" type="fixed">
+    <origin xyz="-0.25 0.117 0.083"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_2_left_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_2_back_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.016 0.25 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.016 0.25 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_2_back_joint" type="fixed">
+    <origin xyz="-0.487 0 0.083"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_2_back_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_board_3_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.016"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.016"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_board_3_joint" type="fixed">
+    <origin xyz="-0.25 0 0.38"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_board_3_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_3_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_3_right_joint" type="fixed">
+    <origin xyz="-0.25 -0.117 0.413"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_3_right_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_3_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.016 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_3_left_joint" type="fixed">
+    <origin xyz="-0.25 0.117 0.413"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_3_left_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_3_back_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.016 0.25 0.082"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.016 0.25 0.082"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_3_back_joint" type="fixed">
+    <origin xyz="-0.487 0 0.413"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_3_back_link"/>
+  </joint>
+  <link name="kitchen_island_footprint">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+  </link>
+  <link name="kitchen_island">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/IslandArea.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/IslandArea.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_footprint_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-1.365 0.59 0"/>
+    <child link="kitchen_island_footprint"/>
+    <parent link="room_link"/>
+  </joint>
+  <joint name="kitchen_island_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.2975 1.1292 0.421"/>
+    <parent link="kitchen_island_footprint"/>
+    <child link="kitchen_island"/>
+  </joint>
+  <link name="kitchen_island_surface">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.8 2.45 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_surface_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0. 0.42"/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_surface"/>
+  </joint>
+  <link name="kitchen_island_stove">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/Stove.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/Stove.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_stove_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.7658 0.4315"/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_stove"/>
+  </joint>
+  <link name="kitchen_island_left_panel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_left_panel_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.2725 -0.8 0.329 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_left_panel"/>
+  </joint>
+  <link name="kitchen_island_left_upper_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_island_left_upper_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_left_upper_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0025 -0.8 0.114 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_left_upper_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="kitchen_island_left_upper_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
+    <parent link="kitchen_island_left_upper_drawer_main"/>
+    <child link="kitchen_island_left_upper_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="kitchen_island_left_lower_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_island_left_lower_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_left_lower_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0025 -0.8 -0.176 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_left_lower_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="kitchen_island_left_lower_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
+    <parent link="kitchen_island_left_lower_drawer_main"/>
+    <child link="kitchen_island_left_lower_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="kitchen_island_middle_panel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_100.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_100.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_middle_panel_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.2725 0 0.329 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_middle_panel"/>
+  </joint>
+  <link name="kitchen_island_middle_upper_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_island_middle_upper_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_middle_upper_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0025 0 0.114 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_middle_upper_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="kitchen_island_middle_upper_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
+    <parent link="kitchen_island_middle_upper_drawer_main"/>
+    <child link="kitchen_island_middle_upper_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="kitchen_island_middle_lower_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_island_middle_lower_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_middle_lower_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0025 0 -0.176 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_middle_lower_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="kitchen_island_middle_lower_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
+    <parent link="kitchen_island_middle_lower_drawer_main"/>
+    <child link="kitchen_island_middle_lower_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="kitchen_island_right_panel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_right_panel_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.2725 0.8 0.329 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_right_panel"/>
+  </joint>
+  <link name="kitchen_island_right_upper_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_island_right_upper_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_right_upper_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0025 0.8 0.114 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_right_upper_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="kitchen_island_right_upper_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
+    <parent link="kitchen_island_right_upper_drawer_main"/>
+    <child link="kitchen_island_right_upper_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="kitchen_island_right_lower_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_island_right_lower_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_right_lower_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0025 0.8 -0.176 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_right_lower_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="kitchen_island_right_lower_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
+    <parent link="kitchen_island_right_lower_drawer_main"/>
+    <child link="kitchen_island_right_lower_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="fridge_area_footprint">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+  </link>
+  <link name="fridge_area">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.01"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.01"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.dae"/>
+        <!--mesh filename="package://iai_kitchen/meshes/collision/kitchen_fridge.stl"/-->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="fridge_area_footprint_joint" type="fixed">
+    <origin rpy="0 0 3.14159265359" xyz="1.845 -0.73 0"/>
+    <child link="fridge_area_footprint"/>
+    <parent link="room_link"/>
+  </joint>
+  <joint name="fridge_area_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.29 0.3 0.74"/>
+    <parent link="fridge_area_footprint"/>
+    <child link="fridge_area"/>
+  </joint>
+  <link name="fridge_area_lower_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="fridge_area_lower_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="fridge_area_lower_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0 -0.0 -0.4175 "/>
+    <parent link="fridge_area"/>
+    <child link="fridge_area_lower_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="fridge_area_lower_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
+    <parent link="fridge_area_lower_drawer_main"/>
+    <child link="fridge_area_lower_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+  </joint>
+  <link name="iai_fridge_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/Fridge.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/Fridge.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_main_middle_level">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.29 0.50 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.29 0.50 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_ceiling">
+    <visual>
+      <geometry>
+        <box size="0.56 0.5 0.13"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.56 0.5 0.13"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="iai_fridge_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.25"/>
+    <parent link="fridge_area"/>
+    <child link="iai_fridge_main"/>
+  </joint>
+  <joint name="iai_fridge_main_middle_level_joint" type="fixed">
+    <parent link="iai_fridge_main"/>
+    <child link="iai_fridge_main_middle_level"/>
+    <origin rpy="0 0 0" xyz="-0.01 0 0.01"/>
+  </joint>
+  <joint name="iai_fridge_door_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.29 0.3 0"/>
+    <parent link="iai_fridge_main"/>
+    <child link="iai_fridge_door"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
+    <!--
+      <limit lower="0" upper="0" effort="300" velocity="10"/>
+-->
+  </joint>
+  <joint name="iai_fridge_ceiling_joint" type="fixed">
+    <origin xyz="0.0 0.0 0.44"/>
+    <parent link="iai_fridge_main"/>
+    <child link="iai_fridge_ceiling"/>
+  </joint>
+  <joint name="iai_fridge_door_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.09 -0.57 0."/>
+    <parent link="iai_fridge_door"/>
+    <child link="iai_fridge_door_handle"/>
+  </joint>
+  <link name="iai_fridge_door_block">
+    <visual>
+      <geometry>
+        <box size="0.04 0.523 0.88"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.04 0.523 0.88"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_block_right_bar">
+    <visual>
+      <geometry>
+        <box size="0.06 0.015 0.73"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.06 0.015 0.73"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_block_left_bar">
+    <visual>
+      <geometry>
+        <box size="0.06 0.015 0.73"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.06 0.015 0.73"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_block_top_bar">
+    <visual>
+      <geometry>
+        <box size="0.045 0.46 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.045 0.46 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="iai_fridge_door_block_joint" type="fixed">
+    <origin xyz="-0.025 -0.27 -0.01"/>
+    <parent link="iai_fridge_door"/>
+    <child link="iai_fridge_door_block"/>
+  </joint>
+  <joint name="iai_fridge_door_block_right_bar_joint" type="fixed">
+    <origin xyz="-0.0425 -0.2225 0.01"/>
+    <parent link="iai_fridge_door_block"/>
+    <child link="iai_fridge_door_block_right_bar"/>
+  </joint>
+  <joint name="iai_fridge_door_block_left_bar_joint" type="fixed">
+    <origin xyz="-0.0425 0.2225 0.01"/>
+    <parent link="iai_fridge_door_block"/>
+    <child link="iai_fridge_door_block_left_bar"/>
+  </joint>
+  <joint name="iai_fridge_door_block_top_bar_joint" type="fixed">
+    <origin xyz="-0.03 0 0.37"/>
+    <parent link="iai_fridge_door_block"/>
+    <child link="iai_fridge_door_block_top_bar"/>
+  </joint>
+  <joint name="iai_fridge_door_shelf1_to_door" type="fixed">
+    <origin xyz="-0.07 0 -0.3525 "/>
+    <child link="iai_fridge_door_shelf1_bottom"/>
+    <parent link="iai_fridge_door_block"/>
+  </joint>
+  <link name="iai_fridge_door_shelf1_bottom">
+    <visual>
+      <geometry>
+        <box size="0.1 0.35 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.1 0.35 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_shelf1_left_side">
+    <visual>
+      <geometry>
+        <box size="0.115 0.06 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.115 0.06 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_shelf1_right_side">
+    <visual>
+      <geometry>
+        <box size="0.115 0.06 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.115 0.06 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_shelf1_front_side">
+    <visual>
+      <geometry>
+        <box size="0.02 0.35 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.01 0.35 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="iai_fridge_door_shelf1_left_to_bottom" type="fixed">
+    <origin xyz="-0.0025 -0.2 0.045"/>
+    <parent link="iai_fridge_door_shelf1_bottom"/>
+    <child link="iai_fridge_door_shelf1_left_side"/>
+  </joint>
+  <joint name="iai_fridge_door_shelf1_right_to_bottom" type="fixed">
+    <origin xyz="-0.0025 0.2 0.045"/>
+    <parent link="iai_fridge_door_shelf1_bottom"/>
+    <child link="iai_fridge_door_shelf1_right_side"/>
+  </joint>
+  <joint name="iai_fridge_door_shelf1_front_to_bottom" type="fixed">
+    <origin xyz="-0.05 0 0.045"/>
+    <parent link="iai_fridge_door_shelf1_bottom"/>
+    <child link="iai_fridge_door_shelf1_front_side"/>
+  </joint>
+  <joint name="iai_fridge_door_shelf2_to_door" type="fixed">
+    <origin xyz="-0.07 0 0.02"/>
+    <child link="iai_fridge_door_shelf2_bottom"/>
+    <parent link="iai_fridge_door_block"/>
+  </joint>
+  <link name="iai_fridge_door_shelf2_bottom">
+    <visual>
+      <geometry>
+        <box size="0.1 0.35 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.1 0.35 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_shelf2_left_side">
+    <visual>
+      <geometry>
+        <box size="0.115 0.06 0.065"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.115 0.06 0.065"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_shelf2_right_side">
+    <visual>
+      <geometry>
+        <box size="0.115 0.06 0.065"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.115 0.06 0.065"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_shelf2_front_side">
+    <visual>
+      <geometry>
+        <box size="0.02 0.35 0.065"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.01 0.35 0.065"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="iai_fridge_door_shelf2_left_to_bottom" type="fixed">
+    <origin xyz="-0.0025 -0.2 0.0275"/>
+    <parent link="iai_fridge_door_shelf2_bottom"/>
+    <child link="iai_fridge_door_shelf2_left_side"/>
+  </joint>
+  <joint name="iai_fridge_door_shelf2_right_to_bottom" type="fixed">
+    <origin xyz="-0.0025 0.2 0.0275"/>
+    <parent link="iai_fridge_door_shelf2_bottom"/>
+    <child link="iai_fridge_door_shelf2_right_side"/>
+  </joint>
+  <joint name="iai_fridge_door_shelf2_front_to_bottom" type="fixed">
+    <origin xyz="-0.05 0 0.0275"/>
+    <parent link="iai_fridge_door_shelf2_bottom"/>
+    <child link="iai_fridge_door_shelf2_front_side"/>
+  </joint>
+  <joint name="iai_fridge_door_shelf3_to_door" type="fixed">
+    <origin xyz="-0.07 0 0.23"/>
+    <child link="iai_fridge_door_shelf3_bottom"/>
+    <parent link="iai_fridge_door_block"/>
+  </joint>
+  <link name="iai_fridge_door_shelf3_bottom">
+    <visual>
+      <geometry>
+        <box size="0.1 0.35 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.1 0.35 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_shelf3_left_side">
+    <visual>
+      <geometry>
+        <box size="0.115 0.06 0.065"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.115 0.06 0.065"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_shelf3_right_side">
+    <visual>
+      <geometry>
+        <box size="0.115 0.06 0.065"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.115 0.06 0.065"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_shelf3_front_side">
+    <visual>
+      <geometry>
+        <box size="0.02 0.35 0.065"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.01 0.35 0.065"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="iai_fridge_door_shelf3_left_to_bottom" type="fixed">
+    <origin xyz="-0.0025 -0.2 0.0275"/>
+    <parent link="iai_fridge_door_shelf3_bottom"/>
+    <child link="iai_fridge_door_shelf3_left_side"/>
+  </joint>
+  <joint name="iai_fridge_door_shelf3_right_to_bottom" type="fixed">
+    <origin xyz="-0.0025 0.2 0.0275"/>
+    <parent link="iai_fridge_door_shelf3_bottom"/>
+    <child link="iai_fridge_door_shelf3_right_side"/>
+  </joint>
+  <joint name="iai_fridge_door_shelf3_front_to_bottom" type="fixed">
+    <origin xyz="-0.05 0 0.0275"/>
+    <parent link="iai_fridge_door_shelf3_bottom"/>
+    <child link="iai_fridge_door_shelf3_front_side"/>
+  </joint>
+  <link name="table_area_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.3619"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.3619"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="table_area_main_joint" type="fixed">
+    <origin rpy="0 0 3.14159265359" xyz="-2.4 -1.5 0"/>
+    <parent link="room_link"/>
+    <child link="table_area_main"/>
+  </joint>
+  <link name="dining_area_footprint">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+  </link>
+  <joint name="dining_area_footprint_joint" type="fixed">
+    <origin rpy="0 0 1.57079632679" xyz="-3.38 0.28 0"/>
+    <child link="dining_area_footprint"/>
+    <parent link="room_link"/>
+  </joint>
+  <link name="dining_area_jokkmokk_table_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkTable.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkTable.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="dining_area_jokkmokk_table_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="dining_area_footprint"/>
+    <child link="dining_area_jokkmokk_table_main"/>
+  </joint>
+  <link name="dining_area_jokkmokk_left_chair_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="dining_area_jokkmokk_left_chair_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-1 0 0"/>
+    <parent link="dining_area_footprint"/>
+    <child link="dining_area_jokkmokk_left_chair_main"/>
+  </joint>
+  <link name="dining_area_jokkmokk_right_chair_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj" scale="1 1 1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="dining_area_jokkmokk_right_chair_main_joint" type="fixed">
+    <origin rpy="0 0 -3.14159265359" xyz="1 0 0"/>
+    <parent link="dining_area_footprint"/>
+    <child link="dining_area_jokkmokk_right_chair_main"/>
+  </joint>
+  <!-- LINKS -->
+  <link name="kitchen_wall_1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 1.25"/>
+      <geometry>
+        <box size="1.1376 0.15 2.5"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 1.25"/>
+      <geometry>
+        <box size="1.1376 0.15 2.5"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_wall_2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 1.25"/>
+      <geometry>
+        <box size="5.182 0.15 2.5"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 1.25"/>
+      <geometry>
+        <box size="5.182 0.15 2.5"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_wall_3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 1.25"/>
+      <geometry>
+        <box size="5.901 0.15 2.5"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 1.25"/>
+      <geometry>
+        <box size="5.901 0.15 2.5"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_wall_4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.35"/>
+      <geometry>
+        <box size="4.25 0.15 0.7"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.35"/>
+      <geometry>
+        <box size="4.25 0.15 0.7"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_wall_5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.35"/>
+      <geometry>
+        <box size="2.27328 0.15 0.7"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.35"/>
+      <geometry>
+        <box size="2.27328 0.15 0.7"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_wall_6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.35"/>
+      <geometry>
+        <box size="1 0.15 0.7"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.35"/>
+      <geometry>
+        <box size="1 0.15 0.7"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_wall_7">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.375"/>
+      <geometry>
+        <box size="1.6 0.15 0.75"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.375"/>
+      <geometry>
+        <box size="1.6 0.15 0.75"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- JOINTS -->
+  <link name="kitchen_walls"/>
+  <joint name="walls_main_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="-0.96 0.65 0"/>
+    <parent link="room_link"/>
+    <child link="kitchen_walls"/>
+  </joint>
+  <joint name="wall_1_joint" type="fixed">
+    <origin rpy="0 -0 3.14159" xyz="2.38151 -2.516 0"/>
+    <parent link="kitchen_walls"/>
+    <child link="kitchen_wall_1"/>
+  </joint>
+  <!--
+    <joint name="wall_1_joint" type="fixed">
+        <origin xyz="1 0.562175 0" rpy="0 0 0" />
+      <parent link="kitchen_walls"/>
+      <child link="kitchen_wall_1"/>
+    </joint>
+    -->
+  <joint name="wall_2_joint" type="fixed">
+    <origin rpy="0 -0 1.5708" xyz="2.87551 0 0"/>
+    <parent link="kitchen_walls"/>
+    <child link="kitchen_wall_2"/>
+  </joint>
+  <joint name="wall_3_joint" type="fixed">
+    <origin rpy="0 -0 3.14159" xyz="0 2.516 0"/>
+    <parent link="kitchen_walls"/>
+    <child link="kitchen_wall_3"/>
+  </joint>
+  <joint name="wall_4_joint" type="fixed">
+    <origin rpy="0 0 -1.5708" xyz="-2.87549 0.466 0"/>
+    <parent link="kitchen_walls"/>
+    <child link="kitchen_wall_4"/>
+  </joint>
+  <joint name="wall_5_joint" type="fixed">
+    <origin rpy="0 -0 0.000157" xyz="-1.81385 -1.70376 0"/>
+    <parent link="kitchen_walls"/>
+    <child link="kitchen_wall_5"/>
+  </joint>
+  <joint name="wall_6_joint" type="fixed">
+    <origin rpy="0 0 -1.5708" xyz="-0.65 -2.12851 0"/>
+    <parent link="kitchen_walls"/>
+    <child link="kitchen_wall_6"/>
+  </joint>
+  <joint name="wall_7_joint" type="fixed">
+    <origin rpy="0 -0 3.14159" xyz="1.01271 -2.556 0"/>
+    <parent link="kitchen_walls"/>
+    <child link="kitchen_wall_7"/>
+  </joint>
+  <gazebo reference="kitchen_wall_6">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <gazebo>
+    <static>false</static>
+  </gazebo>
+</robot>
diff --git a/iai_semantic_maps/owl/kitchen.owl b/iai_semantic_maps/owl/kitchen.owl
index ff5267b..c911042 100755
--- a/iai_semantic_maps/owl/kitchen.owl
+++ b/iai_semantic_maps/owl/kitchen.owl
@@ -500,7 +500,7 @@
     <!-- http://knowrob.org/kb/knowrob.owl#IAIKitchenIsland -->
 
     <owl:Class rdf:about="http://knowrob.org/kb/knowrob.owl#IAIKitchenIsland">
-        <rdfs:subClassOf rdf:resource="http://www.ease-crc.org/ont/SOMA.owl#Cupboard"/>
+        <rdfs:subClassOf rdf:resource="http://www.ontologydesignpatterns.org/ont/dul/DUL.owl#PhysicalPlace"/>
     </owl:Class>
 
 
@@ -524,7 +524,7 @@
     <!-- http://knowrob.org/kb/knowrob.owl#IAIOvenArea -->
 
     <owl:Class rdf:about="http://knowrob.org/kb/knowrob.owl#IAIOvenArea">
-        <rdfs:subClassOf rdf:resource="http://www.ease-crc.org/ont/SOMA.owl#Cupboard"/>
+        <rdfs:subClassOf rdf:resource="http://www.ontologydesignpatterns.org/ont/dul/DUL.owl#PhysicalPlace"/>
     </owl:Class>
 
 
@@ -574,7 +574,31 @@
     <!-- http://knowrob.org/kb/knowrob.owl#IAISinkArea -->
 
     <owl:Class rdf:about="http://knowrob.org/kb/knowrob.owl#IAISinkArea">
-        <rdfs:subClassOf rdf:resource="http://www.ease-crc.org/ont/SOMA.owl#Cupboard"/>
+        <rdfs:subClassOf rdf:resource="http://www.ontologydesignpatterns.org/ont/dul/DUL.owl#PhysicalPlace"/>
+    </owl:Class>
+
+
+
+    <!-- http://knowrob.org/kb/knowrob.owl#IAISinkArea -->
+
+    <owl:Class rdf:about="http://knowrob.org/kb/knowrob.owl#IAIDiningArea">
+        <rdfs:subClassOf rdf:resource="http://www.ontologydesignpatterns.org/ont/dul/DUL.owl#PhysicalPlace"/>
+    </owl:Class>
+
+
+
+    <!-- http://knowrob.org/kb/knowrob.owl#IAITable -->
+
+    <owl:Class rdf:about="http://knowrob.org/kb/knowrob.owl#IAITable">
+        <rdfs:subClassOf rdf:resource="http://www.ease-crc.org/ont/SOMA.owl#DesignedFurniture"/>
+    </owl:Class>
+
+
+
+    <!-- http://knowrob.org/kb/knowrob.owl#IAIChair -->
+
+    <owl:Class rdf:about="http://knowrob.org/kb/knowrob.owl#IAIChair">
+        <rdfs:subClassOf rdf:resource="http://www.ease-crc.org/ont/SOMA.owl#DesignedFurniture"/>
     </owl:Class>
 
 
@@ -1540,10 +1564,12 @@
         <urdf:hasEndLinkName rdf:datatype="http://www.w3.org/2001/XMLSchema#string">kitchen_island_footprint</urdf:hasEndLinkName>
         <urdf:hasEndLinkName rdf:datatype="http://www.w3.org/2001/XMLSchema#string">oven_area_area_footprint</urdf:hasEndLinkName>
         <urdf:hasEndLinkName rdf:datatype="http://www.w3.org/2001/XMLSchema#string">sink_area_footprint</urdf:hasEndLinkName>
+        <urdf:hasEndLinkName rdf:datatype="http://www.w3.org/2001/XMLSchema#string">dining_area_footprint</urdf:hasEndLinkName>
         <dul:hasComponent rdf:resource="http://knowrob.org/kb/IAI-kitchen.owl#iai_kitchen_fridge_area"/>
         <dul:hasComponent rdf:resource="http://knowrob.org/kb/IAI-kitchen.owl#iai_kitchen_kitchen_island"/>
         <dul:hasComponent rdf:resource="http://knowrob.org/kb/IAI-kitchen.owl#iai_kitchen_oven_area_area"/>
         <dul:hasComponent rdf:resource="http://knowrob.org/kb/IAI-kitchen.owl#iai_kitchen_sink_area"/>
+        <dul:hasComponent rdf:resource="http://knowrob.org/kb/IAI-kitchen.owl#iai_kitchen_dining_area"/>
     </owl:NamedIndividual>
 
 
@@ -1852,6 +1878,50 @@
         <srdl2-comp:sphere_inertia_mass rdf:datatype="http://qudt.org/vocab/unit#Kilogram">0</srdl2-comp:sphere_inertia_mass>
         <srdl2-comp:sphere_inertia_radius rdf:datatype="http://qudt.org/vocab/unit#Kilogram">0</srdl2-comp:sphere_inertia_radius>
     </owl:NamedIndividual>
+
+    <!-- http://knowrob.org/kb/IAI-kitchen.owl#iai_kitchen_dining_area -->
+
+    <owl:NamedIndividual rdf:about="http://knowrob.org/kb/IAI-kitchen.owl#iai_kitchen_dining_area">
+        <rdf:type rdf:resource="http://knowrob.org/kb/knowrob.owl#IAIDiningArea"/>
+        <urdf:hasBaseLinkName rdf:datatype="http://www.w3.org/2001/XMLSchema#string">dining_area_footprint</urdf:hasBaseLinkName>
+        <urdf:hasEndLinkName rdf:datatype="http://www.w3.org/2001/XMLSchema#string">dining_area_jokkmokk_table_main</urdf:hasEndLinkName>
+        <urdf:hasEndLinkName rdf:datatype="http://www.w3.org/2001/XMLSchema#string">dining_area_jokkmokk_left_chair_main</urdf:hasEndLinkName>
+        <urdf:hasEndLinkName rdf:datatype="http://www.w3.org/2001/XMLSchema#string">dining_area_jokkmokk_right_chair_main</urdf:hasEndLinkName>
+
+        <dul:hasComponent rdf:resource="http://knowrob.org/kb/IAI-kitchen.owl#iai_kitchen_jokkmokk_table_main"/>
+        <dul:hasComponent rdf:resource="http://knowrob.org/kb/IAI-kitchen.owl#iai_kitchen_jokkmokk_left_chair_main"/>
+        <dul:hasComponent rdf:resource="http://knowrob.org/kb/IAI-kitchen.owl#iai_kitchen_jokkmokk_right_chair_main"/>
+
+        <srdl2-comp:sphere_inertia_mass rdf:datatype="http://qudt.org/vocab/unit#Kilogram">0</srdl2-comp:sphere_inertia_mass>
+        <srdl2-comp:sphere_inertia_radius rdf:datatype="http://qudt.org/vocab/unit#Kilogram">0</srdl2-comp:sphere_inertia_radius>
+    </owl:NamedIndividual>
+
+    <!-- http://knowrob.org/kb/IAI-kitchen.owl#iai_kitchen_jokkmokk_table_main -->
+
+    <owl:NamedIndividual rdf:about="http://knowrob.org/kb/IAI-kitchen.owl#iai_kitchen_jokkmokk_table_main">
+        <rdf:type rdf:resource="http://knowrob.org/kb/knowrob.owl#IAITable"/>
+        <urdf:hasBaseLinkName rdf:datatype="http://www.w3.org/2001/XMLSchema#string">dining_area_jokkmokk_table_main</urdf:hasBaseLinkName>
+        <srdl2-comp:sphere_inertia_mass rdf:datatype="http://qudt.org/vocab/unit#Kilogram">0</srdl2-comp:sphere_inertia_mass>
+        <srdl2-comp:sphere_inertia_radius rdf:datatype="http://qudt.org/vocab/unit#Kilogram">0</srdl2-comp:sphere_inertia_radius>
+    </owl:NamedIndividual>
+
+    <!-- http://knowrob.org/kb/IAI-kitchen.owl#dining_area_jokkmokk_left_chair_main -->
+
+    <owl:NamedIndividual rdf:about="http://knowrob.org/kb/IAI-kitchen.owl#dining_area_jokkmokk_left_chair_main">
+        <rdf:type rdf:resource="http://knowrob.org/kb/knowrob.owl#IAIChair"/>
+        <urdf:hasBaseLinkName rdf:datatype="http://www.w3.org/2001/XMLSchema#string">dining_area_jokkmokk_left_chair_main</urdf:hasBaseLinkName>
+        <srdl2-comp:sphere_inertia_mass rdf:datatype="http://qudt.org/vocab/unit#Kilogram">0</srdl2-comp:sphere_inertia_mass>
+        <srdl2-comp:sphere_inertia_radius rdf:datatype="http://qudt.org/vocab/unit#Kilogram">0</srdl2-comp:sphere_inertia_radius>
+    </owl:NamedIndividual>
+
+    <!-- http://knowrob.org/kb/IAI-kitchen.owl#iai_kitchen_jokkmokk_table_main -->
+
+    <owl:NamedIndividual rdf:about="http://knowrob.org/kb/IAI-kitchen.owl#dining_area_jokkmokk_right_chair_main">
+        <rdf:type rdf:resource="http://knowrob.org/kb/knowrob.owl#IAIChair"/>
+        <urdf:hasBaseLinkName rdf:datatype="http://www.w3.org/2001/XMLSchema#string">dining_area_jokkmokk_right_chair_main</urdf:hasBaseLinkName>
+        <srdl2-comp:sphere_inertia_mass rdf:datatype="http://qudt.org/vocab/unit#Kilogram">0</srdl2-comp:sphere_inertia_mass>
+        <srdl2-comp:sphere_inertia_radius rdf:datatype="http://qudt.org/vocab/unit#Kilogram">0</srdl2-comp:sphere_inertia_radius>
+    </owl:NamedIndividual>
 </rdf:RDF>