diff --git a/iai_kitchen/launch/gazebo_spawn_kitchen.launch b/iai_kitchen/launch/gazebo_spawn_kitchen.launch
index e35bd51..228ab02 100644
--- a/iai_kitchen/launch/gazebo_spawn_kitchen.launch
+++ b/iai_kitchen/launch/gazebo_spawn_kitchen.launch
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 
 <launch>
-  <arg name="model" default="$(find iai_kitchen)/urdf/IAI_kitchen.urdf.xacro"/>
-  <param name="kitchen_description" command="$(find xacro)/xacro.py '$(arg model)'" />
+  <arg name="model" default="$(find iai_kitchen)/urdf/iai_kitchen_python.urdf.xacro"/>
+  <param name="kitchen_description" command="$(find xacro)/xacro '$(arg model)'" />
                             
 
   <arg
@@ -32,7 +32,7 @@
   <node
     name="kitchen_state_publisher_gazebo"
     pkg="robot_state_publisher"
-    type="state_publisher" >
+    type="robot_state_publisher" >
     <param name="tf_prefix" value="iai_kitchen"/>
     <remap from="robot_description" to="kitchen_description"/>
     <remap from="joint_states" to="kitchen_joint_states"/>
diff --git a/iai_kitchen/launch/publish_iai_kitchen_on_tf.launch b/iai_kitchen/launch/publish_iai_kitchen_on_tf.launch
index a84e8dc..66f91d0 100644
--- a/iai_kitchen/launch/publish_iai_kitchen_on_tf.launch
+++ b/iai_kitchen/launch/publish_iai_kitchen_on_tf.launch
@@ -6,8 +6,8 @@
   <!-- todo(lisca): insert the tf_prefix "iai_kitchen" in
                     the right way and the right place -->
 
-  <arg name="model" default="$(find iai_kitchen)/urdf/IAI_kitchen.urdf.xacro"/>
-  <param name="kitchen_description" command="$(find xacro)/xacro.py '$(arg model)'" />
+  <arg name="model" default="$(find iai_kitchen)/urdf/iai_kitchen_python.urdf.xacro"/>
+  <param name="kitchen_description" command="$(find xacro)/xacro '$(arg model)'" />
 
   <node pkg="tf"
         type="static_transform_publisher"
@@ -24,7 +24,7 @@
   
   <node name="kitchen_state_publisher"
         pkg="robot_state_publisher"
-        type="state_publisher" >
+        type="robot_state_publisher" >
     <remap from="robot_description" to="kitchen_description"/>
     <remap from="joint_states" to="kitchen_joint_states"/>
     <!-- param name="tf_prefix" value="iai_kitchen"/-->
diff --git a/iai_kitchen/launch/upload_kitchen.launch b/iai_kitchen/launch/upload_kitchen.launch
index eef8a6b..e698636 100644
--- a/iai_kitchen/launch/upload_kitchen.launch
+++ b/iai_kitchen/launch/upload_kitchen.launch
@@ -1,57 +1,35 @@
 <?xml version="1.0"?>
 
 <launch>
-  <!--
-  <arg name="model" default="$(find iai_kitchen)/urdf/IAI_oven.urdf.xacro"/>
-  -->
-  <arg name="model" default="$(find iai_kitchen)/urdf/IAI_kitchen.urdf.xacro"/>
-  <param name="oven_description" command="$(find xacro)/xacro.py '$(arg model)'" />
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(arg model)'" />
-                            
-<!--
-  <node pkg="tf" type="static_transform_publisher" name="room_link_broadcaster" 
-    args="-3.465 -4.35 0 -3.141592654 0 0 /map /room_link 200">
-  </node>
-  -->
-  <node pkg="tf" type="static_transform_publisher" name="room_link_broadcaster" 
-    args="0.0 0.0 0. 0.0 0. 0. /map /iai_kitchen/room_link 200">
+
+  <!-- statically publish on /tf the urdf of iai kitchen -->
+  <!-- todo(lisca): insert the tf_prefix "iai_kitchen" in
+                    the right way and the right place -->
+
+  <arg name="model" default="$(find iai_kitchen)/urdf/iai_kitchen_python.urdf.xacro"/>
+  <param name="kitchen_description" command="$(find xacro)/xacro '$(arg model)'" />
+
+  <node pkg="tf"
+        type="static_transform_publisher"
+        name="iai_kitchen_room_link_broadcaster" 
+        args="0.0 0.0 0. 0.0 0. 0. map iai_kitchen/world 25">
   </node>
-  <arg
-    name="gui"
-    default="True" />
-  <param
-    name="use_gui"
-    value="$(arg gui)" />
-  <node
-    name="joint_state_publisher"
-    pkg="joint_state_publisher"
-    type="joint_state_publisher" >
+
+  <node pkg="joint_state_publisher" type="joint_state_publisher"
+        name="kitchen_joint_state_publisher" output="screen">
+    <remap from="robot_description" to="kitchen_description"/>
+    <param name="rate" value="25"/>
+    <remap from="/joint_states" to="/kitchen/joint_states" />
+    <rosparam param="source_list">
+      - /kitchen/cram_joint_states
+    </rosparam>
   </node>
-  <node
-    name="robot_state_publisher"
-    pkg="robot_state_publisher"
-    type="state_publisher" >
 
+  <node name="kitchen_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
+    <remap from="robot_description" to="kitchen_description"/>
+    <remap from="joint_states" to="/kitchen/joint_states"/>
     <param name="tf_prefix" value="iai_kitchen"/>
+    <param name="publish_frequency" value="3"/>
   </node>
-  <!--
-  <node
-    name="tf2_web_republisher"
-    pkg="tf2_web_republisher"
-    type="tf2_web_republisher" >
-  </node>
-  
-  -->
-<!--
-  <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />
-
-
-    <param name="knowrob_html_package" type="string" value="boxy_vis" />
-    <param name="knowrob_welcome_file" type="string" value="boxy.html" />
-
-  <param name="initial_package" type="string" value="knowrob_vis" />
-  <param name="initial_goal" type="string" value="visualisation_server,visualisation_canvas" />
-  <node name="json_prolog" pkg="json_prolog" type="json_prolog_node" cwd="node" output="screen" />
--->
 
 </launch>
diff --git a/iai_kitchen/launch/upload_kitchen_obj.launch b/iai_kitchen/launch/upload_kitchen_obj.launch
deleted file mode 100644
index 9cb9dbc..0000000
--- a/iai_kitchen/launch/upload_kitchen_obj.launch
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0"?>
-
-<launch>
-
-  <!-- statically publish on /tf the urdf of iai kitchen -->
-  <!-- todo(lisca): insert the tf_prefix "iai_kitchen" in
-                    the right way and the right place -->
-
-  <arg name="model" default="$(find iai_kitchen)/urdf_obj/iai_kitchen_python.urdf.xacro"/>
-  <param name="kitchen_description" command="$(find xacro)/xacro '$(arg model)'" />
-
-  <node pkg="tf"
-        type="static_transform_publisher"
-        name="iai_kitchen_room_link_broadcaster" 
-        args="0.0 0.0 0. 0.0 0. 0. map iai_kitchen/world 25">
-  </node>
-
-  <node pkg="joint_state_publisher" type="joint_state_publisher"
-        name="kitchen_joint_state_publisher" output="screen">
-    <remap from="robot_description" to="kitchen_description"/>
-    <param name="rate" value="25"/>
-    <remap from="/joint_states" to="/kitchen/joint_states" />
-    <rosparam param="source_list">
-      - /kitchen/cram_joint_states
-    </rosparam>
-  </node>
-
-  <node name="kitchen_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
-    <remap from="robot_description" to="kitchen_description"/>
-    <remap from="joint_states" to="/kitchen/joint_states"/>
-    <param name="tf_prefix" value="iai_kitchen"/>
-    <param name="publish_frequency" value="3"/>
-  </node>
-
-</launch>
diff --git a/iai_kitchen/urdf/IAI_dish_washer.urdf.xacro b/iai_kitchen/urdf/IAI_dish_washer.urdf.xacro
index 8c6d689..210adb4 100644
--- a/iai_kitchen/urdf/IAI_dish_washer.urdf.xacro
+++ b/iai_kitchen/urdf/IAI_dish_washer.urdf.xacro
@@ -4,10 +4,10 @@
 
   <xacro:property name="pi" value="3.1415926535897931" />
 
-  <macro name="iai_dish_washer" params="name parent *origin">
+  <xacro:macro name="iai_dish_washer" params="name parent *origin">
      <link name="${name}_main">
-      
-      <sphere_inertia radius="0" mass="0"/>
+
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -17,30 +17,30 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.obj"/>
         </geometry>
       </collision>
     </link>
-    
+
     <link name="${name}_door">
-      
-      <sphere_inertia radius="0" mass="0"/>
+
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
-        <origin xyz="0 0 0" rpy="${0.5*pi} 0 0" />
+        <origin xyz="0 0.055 0" rpy="${0.5*pi} 0 0" />
         <geometry>
           <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.dae"/>
         </geometry>
       </visual>
       <collision>
-        <origin xyz="0 0 0" rpy="${0.5*pi} 0 0" />
+        <origin xyz="0 0.055 0" rpy="${0.5*pi} 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.obj"/>
         </geometry>
       </collision>
     </link>
 
     <link name="${name}_door_handle">
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -50,35 +50,37 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
         </geometry>
       </collision>
     </link>
     <!--
     <xacro:if value="simulated"/>
     -->
-    <joint name="${name}_main_joint" type="revolute">
-      <limit lower="0" upper="0" effort="300" velocity="10"/>
-      
+    <joint name="${name}_main_joint" type="fixed">
       <xacro:insert_block name="origin" />
       <parent link="${parent}"/>
       <child link="${name}_main"/>
     </joint>
-    
+
+    <!--
     <xacro:if value="${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... -->
+       FIXME make closed position stable instead of forbidding opening...
       <limit lower="0" upper="0" effort="300" velocity="10"/>
     </joint>
-    
+
     </xacro:if>
+    -->
+    <!--
     <xacro:unless value="${simulated}">
+    -->
     <joint name="${name}_door_joint" type="revolute">
-      <origin xyz="0.27 0. -0.325" rpy="${-0.5*pi} 0 0" />
+      <origin xyz="0.27 0. -0.285" rpy="${-0.5*pi} 0 0" />
       <parent link="${name}_main"/>
       <child link="${name}_door"/>
       <axis xyz="0 0 1"/>
@@ -87,13 +89,187 @@
       -->
       <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
     </joint>
-    
+    <!--
     </xacro:unless>
+  -->
     <joint name="${name}_door_handle_joint" type="fixed">
-      <origin xyz="0.0625 -0.6325 0." rpy="${-0.5*pi} 0 0" />
+      <origin xyz="0.085 -0.575 0.0" rpy="${-0.5*pi} 0 0" />
       <parent link="${name}_door"/>
       <child link="${name}_door_handle"/>
     </joint>
-  </macro>
 
-</robot>
\ No newline at end of file
+    <xacro:dishwasher_tray name="${name}_tray" parent="${name}_main">
+      <origin xyz="-0.08 0 0.15"/>
+    </xacro:dishwasher_tray>
+
+  </xacro:macro>
+
+  <xacro:macro name="dishwasher_tray" params="name parent *origin">
+
+    <joint name="${name}_main" type="prismatic">
+      <xacro:insert_block name="origin"/>
+      <parent link="${parent}"/>
+      <child link="${name}_bottom"/>
+      <axis xyz="1 0 0"/>
+      <limit lower="0" upper="0.48" effort="300" velocity="10"/>
+    </joint>
+
+
+    <link name="${name}_bottom">
+      <visual>
+        <geometry>
+          <box size="0.32 0.5 0.05"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.32 0.5 0.05"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_left_side">
+      <visual>
+        <geometry>
+          <box size="0.32 0.005 0.17"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.32 0.005 0.17"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_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="${name}_back_side">
+      <visual>
+        <geometry>
+          <box size="0.005 0.5 0.17"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.005 0.5 0.17"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_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="${name}_bottom_left" type="fixed">
+      <origin xyz="-0.0 -0.25 0.075"/>
+      <child link="${name}_left_side" />
+      <parent link="${name}_bottom"/>
+    </joint>
+
+    <joint name="${name}_bottom_right" type="fixed">
+      <origin xyz="-0.0 0.25 0.075"/>
+      <child link="${name}_right_side" />
+      <parent link="${name}_bottom"/>
+    </joint>
+
+    <joint name="${name}_bottom_back" type="fixed">
+      <origin xyz="-0.16 0 0.075"/>
+      <child link="${name}_back_side" />
+      <parent link="${name}_bottom"/>
+    </joint>
+
+    <joint name="${name}_bottom_front" type="fixed">
+      <origin xyz="0.16 0 0.075"/>
+      <child link="${name}_front_side" />
+      <parent link="${name}_bottom"/>
+    </joint>
+
+    <xacro:tray_handle name="${name}_handle" parent="${name}_front_side">
+      <origin xyz="0.06 -0.1 -0.02"/>
+    </xacro:tray_handle>
+
+  </xacro:macro>
+
+  <xacro:macro name="tray_handle" params="name parent *origin">
+
+    <joint name="${name}_joint" type="fixed">
+      <xacro:insert_block name="origin"/>
+      <child link="${name}_front_side" />
+      <parent link="${parent}"/>
+    </joint>
+
+    <link name="${name}_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="${name}_right_side">
+      <visual>
+        <geometry>
+          <box size="0.03 0.01 0.01"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.03 0.01 0.01"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_front_side">
+      <visual>
+        <geometry>
+          <box size="0.01 0.2 0.01"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.01 0.2 0.01"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${name}_front_left_joint" type="fixed">
+      <origin xyz="-0.01 -0.1 0"/>
+      <child link="${name}_left_side" />
+      <parent link="${name}_front_side"/>
+    </joint>
+
+    <joint name="${name}_front_right_joint" type="fixed">
+      <origin xyz="-0.01 0.1 0"/>
+      <child link="${name}_right_side" />
+      <parent link="${name}_front_side"/>
+    </joint>
+
+
+  </xacro:macro>
+
+</robot>
diff --git a/iai_kitchen/urdf/IAI_drawers.urdf b/iai_kitchen/urdf/IAI_drawers.urdf
index c6d6096..31b2acf 100644
--- a/iai_kitchen/urdf/IAI_drawers.urdf
+++ b/iai_kitchen/urdf/IAI_drawers.urdf
@@ -13,7 +13,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
       </geometry>
     </visual>
   </link>
@@ -22,7 +22,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
       </geometry>
     </visual>
   </link>
@@ -50,7 +50,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.obj"/>
       </geometry>
     </visual>
   </link>
@@ -59,7 +59,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
       </geometry>
     </visual>
   </link>
@@ -87,7 +87,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
       </geometry>
     </visual>
   </link>
@@ -96,7 +96,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
       </geometry>
     </visual>
   </link>
@@ -122,7 +122,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.obj"/>
       </geometry>
     </visual>
   </link>
@@ -131,7 +131,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
       </geometry>
     </visual>
   </link>
@@ -157,7 +157,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.obj"/>
       </geometry>
     </visual>
   </link>
@@ -166,7 +166,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.obj"/>
       </geometry>
     </visual>
   </link>
diff --git a/iai_kitchen/urdf/IAI_drawers.urdf.xacro b/iai_kitchen/urdf/IAI_drawers.urdf.xacro
index 2729644..ce0ad22 100644
--- a/iai_kitchen/urdf/IAI_drawers.urdf.xacro
+++ b/iai_kitchen/urdf/IAI_drawers.urdf.xacro
@@ -6,128 +6,249 @@
 
   
   
-  <macro name="iai_drawer_60_14" params="name parent *origin">   
-    <iai_drawer_14 name="${name}" parent="${parent}" width="60">
+  <xacro:macro name="iai_drawer_60_14" params="name parent *origin">
+    <xacro:iai_drawer_14 name="${name}" parent="${parent}" width="60">
       <xacro:insert_block name="origin" />
-    </iai_drawer_14>
-  </macro>
+    </xacro:iai_drawer_14>
+  </xacro:macro>
   
-  <macro name="iai_drawer_80_14" params="name parent *origin">   
-    <iai_drawer_14 name="${name}" parent="${parent}" width="80">
+  <xacro:macro name="iai_drawer_80_14" params="name parent *origin">
+    <xacro:iai_drawer_14 name="${name}" parent="${parent}" width="80">
       <xacro:insert_block name="origin" />
-    </iai_drawer_14>
-  </macro>
+    </xacro:iai_drawer_14>
+  </xacro:macro>
   
-  <macro name="iai_drawer_60_29" params="name parent *origin">   
-    <iai_drawer_29 name="${name}" parent="${parent}" width="60">
+  <xacro:macro name="iai_drawer_60_29" params="name parent *origin">
+    <xacro:iai_drawer_29 name="${name}" parent="${parent}" width="60">
       <xacro:insert_block name="origin" />
-    </iai_drawer_29>
-  </macro>
+    </xacro:iai_drawer_29>
+  </xacro:macro>
   
-  <macro name="iai_drawer_80_29" params="name parent *origin">   
-    <iai_drawer_29 name="${name}" parent="${parent}" width="80">
+  <xacro:macro name="iai_drawer_80_29" params="name parent *origin">
+    <xacro:iai_drawer_29 name="${name}" parent="${parent}" width="80">
       <xacro:insert_block name="origin" />
-    </iai_drawer_29>
-  </macro>
+    </xacro:iai_drawer_29>
+  </xacro:macro>
   
   
-  <macro name="iai_drawer_100_29" params="name parent *origin">   
-    <iai_drawer_29 name="${name}" parent="${parent}" width="100">
+  <xacro:macro name="iai_drawer_100_29" params="name parent *origin">
+    <xacro:iai_drawer_29 name="${name}" parent="${parent}" width="100">
       <xacro:insert_block name="origin" />
-    </iai_drawer_29>
-  </macro>
+    </xacro:iai_drawer_29>
+  </xacro:macro>
   
   
-  <macro name="iai_drawer_60_58" params="name parent *origin">   
-    <iai_drawer_58 name="${name}" parent="${parent}" width="60">
+  <xacro:macro name="iai_drawer_60_58" params="name parent *origin">
+    <xacro:iai_drawer_58 name="${name}" parent="${parent}" width="60">
       <xacro:insert_block name="origin" />
-    </iai_drawer_58>
-  </macro>
+    </xacro:iai_drawer_58>
+  </xacro:macro>
   
-  <macro name="iai_drawer_58" params="name parent width *origin">   
-      
-    <iai_generic_drawer name="${name}" parent="${parent}" width="${width}" height="58">
+  <xacro:macro name="iai_drawer_58" params="name parent width *origin">
+    
+    <xacro:iai_generic_drawer name="${name}" parent="${parent}" width="${width}" height="58">
       <xacro:insert_block name="origin" />
-      <origin xyz="0.3325 0 0.2375" rpy="0 0 0" />
-    </iai_generic_drawer>
-  </macro>
-  
-  
-  <macro name="iai_vdrawer" params="name parent *origin">  
-    <link name="${name}_main">      
-      <sphere_inertia radius="0" mass="0"/>
+      <origin xyz="0.37 0 0.25" rpy="0 0 0" />
+    </xacro:iai_generic_drawer>
+  </xacro:macro>
+
+
+  <xacro:property name="board_x" value="0.49"/>
+  <xacro:property name="board_y" value="0.25"/>
+  <xacro:property name="board_z" value="0.036"/>
+  <xacro:property name="barrier_z" value="0.1"/>
+  <xacro:macro name="iai_vdrawer_board" params="name parent joint_origin_z">
+    <link name="${parent}_board_${name}_link">
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
+        <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.dae"/>
+          <box size="${board_x} ${board_y} ${board_z}"/>
         </geometry>
       </visual>
       <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
+        <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.dae"/>
+          <box size="${board_x} ${board_y} ${board_z}"/>
         </geometry>
       </collision>
     </link>
 
-    <link name="${name}_handle">      
-      <sphere_inertia radius="0" mass="0"/>
+    <joint name="${parent}_board_${name}_joint" type="fixed">
+      <origin xyz="${-board_y} 0 ${joint_origin_z}"/>
+      <parent link="${parent}_main"/>
+      <child link="${parent}_board_${name}_link"/>
+    </joint>
+
+    <link name="${parent}_barrier_${name}_right_link">
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
+        <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
+          <box size="${board_x} ${board_z} ${barrier_z}"/>
         </geometry>
       </visual>
       <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
+        <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
+          <box size="${board_x} ${board_z} ${barrier_z}"/>
         </geometry>
       </collision>
     </link>
 
+    <joint name="${parent}_barrier_${name}_right_joint" type="fixed">
+      <origin xyz="${-board_y} ${-board_y / 2 + board_z / 2} ${joint_origin_z + barrier_z/2 - board_z/2}"/>
+      <parent link="${parent}_main"/>
+      <child link="${parent}_barrier_${name}_right_link"/>
+    </joint>
+
+    <link name="${parent}_barrier_${name}_left_link">
+      <xacro:sphere_inertia radius="0" mass="0"/>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <box size="${board_x} ${board_z} ${barrier_z}"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <box size="${board_x} ${board_z} ${barrier_z}"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${parent}_barrier_${name}_left_joint" type="fixed">
+      <origin xyz="${-board_y} ${board_y / 2 - board_z / 2} ${joint_origin_z + barrier_z/2 - board_z/2}"/>
+      <parent link="${parent}_main"/>
+      <child link="${parent}_barrier_${name}_left_link"/>
+    </joint>
+
+    <link name="${parent}_barrier_${name}_back_link">
+      <xacro:sphere_inertia radius="0" mass="0"/>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <box size="${board_z} ${board_y} ${barrier_z}"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <box size="${board_z} ${board_y} ${barrier_z}"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${parent}_barrier_${name}_back_joint" type="fixed">
+      <origin xyz="${-board_x / 2 + board_z / 2 - board_y} 0 ${joint_origin_z + barrier_z/2 - board_z/2}"/>
+      <parent link="${parent}_main"/>
+      <child link="${parent}_barrier_${name}_back_link"/>
+    </joint>
+  </xacro:macro>
+
+
+
+  <xacro:macro name="iai_vdrawer" params="name parent *origin">
     <joint name="${name}_main_joint" type="prismatic">
-      <xacro:insert_block name="origin" />
+      <xacro:insert_block name="origin"/>
       <parent link="${parent}"/>
       <child link="${name}_main"/>
-      <axis xyz="1. 0. 0.0"/>  
-        <limit effort="300" lower="0" upper="0.48" velocity="10"/>  
-<!--
-        <limit effort="300" lower="0" upper="0" velocity="10"/>
-  -->
+      <axis xyz="1. 0. 0.0"/>
+      <limit effort="300" lower="0" upper="0.48" velocity="10"/>
     </joint>
-    
-    
-    <joint name="${name}_handle_joint" type="fixed">
-        <origin xyz="0.3525 0 0" rpy="0 0 0" />
+
+    <link name="${name}_main">
+      <xacro:sphere_inertia radius="0" mass="0"/>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <box size="0.025 0.3 1.33"/>
+        </geometry>
+        <material name="KitchenLightGray">
+          <color rgba="0.7 0.7 0.7 1.0"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <box size="0.025 0.3 1.33"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${name}_main_padding_joint" type="fixed">
       <parent link="${name}_main"/>
-      <child link="${name}_handle"/>
-      <axis xyz="0 0 1"/>
-      <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
-    </joint>      
-  </macro>
-  
-  <macro name="iai_drawer_29" params="name parent width *origin">   
-      
-    <iai_generic_drawer name="${name}" parent="${parent}" width="${width}" height="29">
+      <child link="${name}_main_padding"/>
+      <origin rpy="0 0 0" xyz="-0.03 0.0 0.0"/>
+    </joint>
+    <link name="${name}_main_padding">
+      <xacro:sphere_inertia radius="0" mass="0"/>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <box size="0.06 0.3 1.33"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <box size="0.06 0.3 1.33"/>
+        </geometry>
+      </collision>
+    </link>
+
+
+    <joint name="${name}_handle_joint" type="fixed">
+      <origin rpy="${-0.5*pi} 0 0" xyz="0.08 0.0 0.05"/>
+      <parent link="${name}_main" />
+      <child link="${name}_handle" />
+    </joint>
+
+    <link name="${name}_handle">
+      <xacro:sphere_inertia radius="0" mass="0"/>
+      <visual>
+        <origin xyz="0 0 0" rpy="${0.5*pi} 0 0" />
+        <geometry>
+          <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="${0.5*pi} 0 0" />
+        <geometry>
+          <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.obj"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <xacro:iai_vdrawer_board name="0" parent="${name}" joint_origin_z="-0.6"/>
+    <xacro:iai_vdrawer_board name="1" parent="${name}" joint_origin_z="-0.28"/>
+    <xacro:iai_vdrawer_board name="2" parent="${name}" joint_origin_z="0.05"/>
+    <xacro:iai_vdrawer_board name="3" parent="${name}" joint_origin_z="0.38"/>
+  </xacro:macro>
+
+
+  <xacro:macro name="iai_drawer_29" params="name parent width *origin">
+    
+    <xacro:iai_generic_drawer name="${name}" parent="${parent}" width="${width}" height="29">
       <xacro:insert_block name="origin" />
-      <origin xyz="0.3325 0 0.11" rpy="0 0 0" />
-    </iai_generic_drawer>
-  </macro>
+      <origin xyz="0.3525 0 0.11" rpy="0 0 0" />
+    </xacro:iai_generic_drawer>
+  </xacro:macro>
   
-  <macro name="iai_drawer_14" params="name parent width *origin">   
-      
-    <iai_generic_drawer name="${name}" parent="${parent}" width="${width}" height="14">
+  <xacro:macro name="iai_drawer_14" params="name parent width *origin">
+    
+    <xacro:iai_generic_drawer name="${name}" parent="${parent}" width="${width}" height="14">
       <xacro:insert_block name="origin" />
-      <origin xyz="0.3325 0 0.0175" rpy="0 0 0" />
-    </iai_generic_drawer>
-  </macro>
+      <origin xyz="0.3525 0 0.0175" rpy="0 0 0" />
+    </xacro:iai_generic_drawer>
+  </xacro:macro>
   
   
   
-  <macro name="iai_generic_drawer" params="name parent width height *origin *handle_origin">   
+  <xacro:macro name="iai_generic_drawer" params="name parent width height *origin *handle_origin">
     <link name="${name}_main">      
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -137,13 +258,13 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_${width}_${height}.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_${width}_${height}.obj"/>
         </geometry>
       </collision>
     </link>
 
     <link name="${name}_handle">      
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -153,7 +274,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/handles/Handle${width}.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/handles/Handle${width}.obj"/>
         </geometry>
       </collision>
     </link>
@@ -163,10 +284,10 @@
       <parent link="${parent}"/>
       <child link="${name}_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"/>
--->
+      <limit effort="300" lower="0" upper="0.48" velocity="10"/>   
+      <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
     </joint>
     
     
@@ -177,12 +298,12 @@
       <axis xyz="0 0 1"/>
       <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
     </joint>      
-  </macro>
+  </xacro:macro>
   
   
-  <macro name="iai_generic_panel" params="name parent width *origin">   
+  <xacro:macro name="iai_generic_panel" params="name parent width *origin">
     <link name="${name}">      
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -192,7 +313,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/drawers/Panel_${width}.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/drawers/Panel_${width}.obj"/>
         </geometry>
       </collision>
     </link>
@@ -202,33 +323,33 @@
       <parent link="${parent}"/>
       <child link="${name}"/>
     </joint>      
-  </macro>
+  </xacro:macro>
 
   
   <!--- 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="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>
   -->
 </robot>
diff --git a/iai_kitchen/urdf/IAI_fridge.urdf.xacro b/iai_kitchen/urdf/IAI_fridge.urdf.xacro
index 933e556..f6130fd 100644
--- a/iai_kitchen/urdf/IAI_fridge.urdf.xacro
+++ b/iai_kitchen/urdf/IAI_fridge.urdf.xacro
@@ -4,11 +4,11 @@
 
   <xacro:property name="pi" value="3.1415926535897931" />
 
-  <macro name="iai_fridge" params="name parent *origin">
-    
+  <xacro:macro name="iai_fridge" params="name parent *origin">
+
      <link name="${name}_main">
-      
-      <sphere_inertia radius="0" mass="0"/>
+
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -18,31 +18,60 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/misc/Fridge.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/misc/Fridge.obj"/>
         </geometry>
       </collision>
     </link>
-    
+
+    <link name="${name}_main_middle_level">
+
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.29 0.50 0.01"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <box size="0.29 0.50 0.01"/>
+        </geometry>
+      </collision>
+    </link>
+
     <link name="${name}_door">
-      
-      <sphere_inertia radius="0" mass="0"/>
+
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
-        <origin xyz="0 0.3 0" rpy="0 0 0" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
           <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.dae"/>
         </geometry>
       </visual>
       <collision>
-        <origin xyz="0 0.3 0" rpy="0 0 0" />
+        <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.obj"/>
         </geometry>
       </collision>
-    </link>
-    
+  </link>
+
+  <link name="${name}_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="${name}_door_handle">
-      
-      <sphere_inertia radius="0" mass="0"/>
+
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -52,33 +81,222 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.obj"/>
         </geometry>
       </collision>
     </link>
-    
+
     <joint name="${name}_main_joint" type="fixed">
       <xacro:insert_block name="origin" />
       <parent link="${parent}"/>
       <child link="${name}_main"/>
     </joint>
-    
+
+    <joint name="${name}_main_middle_level_joint" type="fixed">
+      <parent link="${name}_main"/>
+      <child link="${name}_main_middle_level"/>
+      <origin xyz="-0.01 0 0.01" rpy="0 0 0" />
+    </joint>
+
     <joint name="${name}_door_joint" type="revolute">
-      <origin xyz="0.29 0 0.245" rpy="0 0 0" />
+      <origin xyz="0.29 0.3 0" rpy="0 0 0" />
       <parent link="${name}_main"/>
       <child link="${name}_door"/>
-      <axis xyz="0 0 1"/>     
-      <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>    
+      <axis xyz="0 0 1"/>
+      <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
 <!--
       <limit lower="0" upper="0" effort="300" velocity="10"/>
 -->
     </joint>
-    
+
+
+
+    <joint name="${name}_ceiling_joint" type="fixed">
+        <origin xyz="0.0 0.0 0.44"/>
+        <parent link="${name}_main"/>
+        <child link="${name}_ceiling"/>
+    </joint>
+
+
     <joint name="${name}_door_handle_joint" type="fixed">
-      <origin xyz="0.06 -0.27 0." rpy="0 0 0" />
+      <origin xyz="0.07 -0.57 0." rpy="0 0 0" />
       <parent link="${name}_door"/>
       <child link="${name}_door_handle"/>
     </joint>
-  </macro>
+
+    <link name="${name}_door_block" >
+      <visual>
+        <geometry>
+          <box size="0.04 0.523 0.88"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.04 0.523 0.88"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_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="${name}_door_block_left_bar" >
+      <visual>
+        <geometry>
+          <box size="0.06 0.015 0.73"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.06 0.015 0.73"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_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="${name}_door_block_joint" type="fixed">
+      <origin xyz="-0.025 -0.27 -0.01" />
+      <parent link="${name}_door"/>
+      <child link="${name}_door_block"/>
+    </joint>
+
+    <joint name="${name}_door_block_right_bar_joint" type="fixed">
+      <origin xyz="-0.0425 -0.2225 0.01" />
+      <parent link="${name}_door_block"/>
+      <child link="${name}_door_block_right_bar"/>
+    </joint>
+
+    <joint name="${name}_door_block_left_bar_joint" type="fixed">
+      <origin xyz="-0.0425 0.2225 0.01" />
+      <parent link="${name}_door_block"/>
+      <child link="${name}_door_block_left_bar"/>
+    </joint>
+
+    <joint name="${name}_door_block_top_bar_joint" type="fixed">
+      <origin xyz="-0.03 0 0.37" />
+      <parent link="${name}_door_block"/>
+      <child link="${name}_door_block_top_bar"/>
+    </joint>
+
+
+    <xacro:fridge_door_shelf name="${name}_door_shelf1" parent="${name}_door_block" height="0.1">
+      <origin xyz="-0.07 0 -0.3525 "/>
+    </xacro:fridge_door_shelf>
+
+    <xacro:fridge_door_shelf name="${name}_door_shelf2" parent="${name}_door_block" height="0.065">
+      <origin xyz="-0.07 0 0.02"/>
+    </xacro:fridge_door_shelf>
+
+    <xacro:fridge_door_shelf name="${name}_door_shelf3" parent="${name}_door_block" height="0.065">
+      <origin xyz="-0.07 0 0.23"/>
+    </xacro:fridge_door_shelf>
+
+
+
+  </xacro:macro>
+
+  <xacro:macro name="fridge_door_shelf" params="name parent height *origin">
+
+    <joint name="${name}_to_door" type="fixed">
+      <xacro:insert_block name="origin"/>
+      <child link="${name}_bottom"/>
+      <parent link="${parent}"/>
+    </joint>
+
+    <link name="${name}_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="${name}_left_side" >
+      <visual>
+        <geometry>
+          <box size="0.115 0.06 ${height}"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.115 0.06 ${height}"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_right_side" >
+      <visual>
+        <geometry>
+          <box size="0.115 0.06 ${height}"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.115 0.06 ${height}"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${name}_front_side" >
+      <visual>
+        <geometry>
+          <box size="0.02 0.35 ${height}"/>
+        </geometry>
+      </visual>
+      <collision>
+        <geometry>
+          <box size="0.01 0.35 ${height}"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${name}_left_to_bottom" type="fixed">
+      <origin xyz="-0.0025 -0.2 ${ height/2 - 0.005}"/>
+      <parent link="${name}_bottom"/>
+      <child link="${name}_left_side"/>
+    </joint>
+
+    <joint name="${name}_right_to_bottom" type="fixed">
+      <origin xyz="-0.0025 0.2 ${ height/2 - 0.005}"/>
+      <parent link="${name}_bottom"/>
+      <child link="${name}_right_side"/>
+    </joint>
+
+    <joint name="${name}_front_to_bottom" type="fixed">
+      <origin xyz="-0.05 0 ${ height/2 - 0.005}"/>
+      <parent link="${name}_bottom"/>
+      <child link="${name}_front_side"/>
+    </joint>
+
+
+  </xacro:macro>
 
 </robot>
diff --git a/iai_kitchen/urdf/IAI_fridge_area.urdf.xacro b/iai_kitchen/urdf/IAI_fridge_area.urdf.xacro
index 311af9a..8f97fc3 100644
--- a/iai_kitchen/urdf/IAI_fridge_area.urdf.xacro
+++ b/iai_kitchen/urdf/IAI_fridge_area.urdf.xacro
@@ -3,17 +3,17 @@
 <robot name="iai_fridge_area" xmlns:xacro="http://ros.org/wiki/xacro">
 
   <xacro:property name="pi" value="3.1415926535897931" />
-  
+
   <xacro:include filename="$(find iai_kitchen)/urdf/IAI_drawers.urdf.xacro"/>
   <xacro:include filename="$(find iai_kitchen)/urdf/IAI_fridge.urdf.xacro"/>
-  
-  <macro name="iai_fridge_area" params="parent name *origin">
-    <link name="${name}_footprint">    
-      <sphere_inertia radius="0" mass="0"/>
+
+  <xacro:macro name="iai_fridge_area" params="parent name *origin">
+    <link name="${name}_footprint">
+      <xacro:sphere_inertia radius="0" mass="0"/>
     </link>
-    
-    <link name="${name}">    
-      <sphere_inertia radius="0" mass="0"/>
+
+    <link name="${name}">
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
     	  <origin xyz="0 0 0.01" rpy="0 0 0" />
     	  <geometry>
@@ -23,30 +23,30 @@
       <collision>
           <origin xyz="0 0 0.01" rpy="0 0 0" />
           <geometry>
-  	    <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.dae"/>
+  	    <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.obj"/>
             <!--mesh filename="package://iai_kitchen/meshes/collision/kitchen_fridge.stl"/-->
           </geometry>
         </collision>
     </link>
-      
+
     <joint name="${name}_footprint_joint" type="fixed">
 	<xacro:insert_block name="origin" />
       <child link="${name}_footprint"/>
       <parent link="${parent}"/>
     </joint>
-      
+
     <joint name="${name}_main_joint" type="fixed">
-      <origin xyz="0.29 .3 0.74" rpy="0 0 0" />
+      <origin xyz="0.29 0.3 0.74" rpy="0 0 0" />
       <parent link="${name}_footprint"/>
       <child link="${name}"/>
-    </joint>   
-  <iai_drawer_60_29 name="${name}_lower_drawer" parent="${name}">
+    </joint>
+  <xacro:iai_drawer_60_29 name="${name}_lower_drawer" parent="${name}">
     <origin rpy="0 0 0" xyz="0.0 -0.0 -0.4175 "/>
-  </iai_drawer_60_29>
-  
-  <iai_fridge name="iai_fridge" parent="${name}">
-    <origin xyz="0 0 0" rpy="0 0 0" />
-  </iai_fridge>
-  </macro> 
-  
+  </xacro:iai_drawer_60_29>
+
+  <xacro:iai_fridge name="iai_fridge" parent="${name}">
+    <origin xyz="0 0 0.25" rpy="0 0 0" />
+  </xacro:iai_fridge>
+  </xacro:macro>
+
 </robot>
diff --git a/iai_kitchen/urdf/IAI_kitchen.urdf b/iai_kitchen/urdf/IAI_kitchen.urdf
index 8e26c41..0e3df0d 100644
--- a/iai_kitchen/urdf/IAI_kitchen.urdf
+++ b/iai_kitchen/urdf/IAI_kitchen.urdf
@@ -15,7 +15,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.obj"/>
       </geometry>
     </visual>
   </link>
@@ -34,7 +34,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/Sink.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/misc/Sink.obj"/>
       </geometry>
     </visual>
   </link>
@@ -48,7 +48,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.obj"/>
       </geometry>
     </visual>
   </link>
@@ -62,7 +62,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.obj"/>
       </geometry>
     </visual>
   </link>
@@ -71,7 +71,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
       </geometry>
     </visual>
   </link>
@@ -94,7 +94,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_14.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_14.obj"/>
       </geometry>
     </visual>
   </link>
@@ -103,7 +103,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
       </geometry>
     </visual>
   </link>
@@ -126,7 +126,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.obj"/>
       </geometry>
     </visual>
   </link>
@@ -135,7 +135,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
       </geometry>
     </visual>
   </link>
@@ -158,7 +158,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.obj"/>
       </geometry>
     </visual>
   </link>
@@ -167,7 +167,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
       </geometry>
     </visual>
   </link>
@@ -190,7 +190,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.obj"/>
       </geometry>
     </visual>
   </link>
@@ -199,7 +199,7 @@
     <visual>
       <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.obj"/>
       </geometry>
     </visual>
   </link>
@@ -208,7 +208,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
       </geometry>
     </visual>
   </link>
@@ -237,7 +237,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.obj"/>
       </geometry>
     </visual>
   </link>
@@ -256,7 +256,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.obj"/>
       </geometry>
     </visual>
   </link>
@@ -265,7 +265,7 @@
     <visual>
       <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/OvenDoor.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenDoor.obj"/>
       </geometry>
     </visual>
   </link>
@@ -274,7 +274,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
       </geometry>
     </visual>
   </link>
@@ -283,7 +283,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/OvenPanel.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenPanel.obj"/>
       </geometry>
     </visual>
   </link>
@@ -316,7 +316,7 @@
     <visual>
       <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
       </geometry>
     </visual>
   </link>
@@ -332,7 +332,7 @@
     <visual>
       <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
       </geometry>
     </visual>
   </link>
@@ -348,7 +348,7 @@
     <visual>
       <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
       </geometry>
     </visual>
   </link>
@@ -364,7 +364,7 @@
     <visual>
       <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
       </geometry>
     </visual>
   </link>
@@ -380,7 +380,7 @@
     <visual>
       <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
       </geometry>
     </visual>
   </link>
@@ -396,7 +396,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_14.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_14.obj"/>
       </geometry>
     </visual>
   </link>
@@ -405,7 +405,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
       </geometry>
     </visual>
   </link>
@@ -428,7 +428,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.obj"/>
       </geometry>
     </visual>
   </link>
@@ -437,7 +437,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
       </geometry>
     </visual>
   </link>
@@ -460,7 +460,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.obj"/>
       </geometry>
     </visual>
   </link>
@@ -469,7 +469,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.obj"/>
       </geometry>
     </visual>
   </link>
@@ -492,7 +492,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.obj"/>
       </geometry>
     </visual>
   </link>
@@ -501,7 +501,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.obj"/>
       </geometry>
     </visual>
   </link>
@@ -527,7 +527,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/IslandArea.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/racks/IslandArea.obj"/>
       </geometry>
     </visual>
   </link>
@@ -546,7 +546,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/Stove.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/misc/Stove.obj"/>
       </geometry>
     </visual>
   </link>
@@ -560,7 +560,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.obj"/>
       </geometry>
     </visual>
   </link>
@@ -574,7 +574,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
       </geometry>
     </visual>
   </link>
@@ -583,7 +583,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
       </geometry>
     </visual>
   </link>
@@ -606,7 +606,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
       </geometry>
     </visual>
   </link>
@@ -615,7 +615,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
       </geometry>
     </visual>
   </link>
@@ -638,7 +638,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_100.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_100.obj"/>
       </geometry>
     </visual>
   </link>
@@ -652,7 +652,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.obj"/>
       </geometry>
     </visual>
   </link>
@@ -661,7 +661,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.obj"/>
       </geometry>
     </visual>
   </link>
@@ -684,7 +684,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.obj"/>
       </geometry>
     </visual>
   </link>
@@ -693,7 +693,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.obj"/>
       </geometry>
     </visual>
   </link>
@@ -716,7 +716,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.obj"/>
       </geometry>
     </visual>
   </link>
@@ -730,7 +730,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
       </geometry>
     </visual>
   </link>
@@ -739,7 +739,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
       </geometry>
     </visual>
   </link>
@@ -762,7 +762,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
       </geometry>
     </visual>
   </link>
@@ -771,7 +771,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
       </geometry>
     </visual>
   </link>
@@ -797,7 +797,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.obj"/>
       </geometry>
     </visual>
   </link>
@@ -807,7 +807,7 @@
     <parent link="room_link"/>
   </joint>
   <joint name="fridge_area_main_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.29 .3 0.74"/>
+    <origin rpy="0 0 0" xyz="0.29 0.3 0.74"/>
     <parent link="fridge_area_footprint"/>
     <child link="fridge_area"/>
   </joint>
@@ -816,7 +816,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
       </geometry>
     </visual>
   </link>
@@ -825,7 +825,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
       </geometry>
     </visual>
   </link>
@@ -848,7 +848,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/Fridge.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/misc/Fridge.obj"/>
       </geometry>
     </visual>
   </link>
@@ -857,7 +857,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.obj"/>
       </geometry>
     </visual>
   </link>
@@ -866,7 +866,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.obj"/>
       </geometry>
     </visual>
   </link>
diff --git a/iai_kitchen/urdf/IAI_kitchen.urdf.xacro b/iai_kitchen/urdf/IAI_kitchen.urdf.xacro
deleted file mode 100644
index 733af4b..0000000
--- a/iai_kitchen/urdf/IAI_kitchen.urdf.xacro
+++ /dev/null
@@ -1,93 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="iai_oven_area" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:property name="pi" value="3.1415926535897931" />
-  <xacro:property name="simulated" value="true" />
-  
-  <macro name="sphere_inertia" params="radius mass">
-        <inertial>
-          <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
-          <mass value="1"/>
-          <inertia 
-              ixx="1" ixy="0.0" ixz="0.0" 
-              iyy="1" iyz="0.0" 
-              izz="1"/>
-        </inertial>
-    
-  </macro>
-  
-  <link name="room_link">    
-    
-      <sphere_inertia radius="0" mass="0"/>
-  </link>
-  <xacro:if value="${simulated}">
-    <link name="world"/> 
-    <joint name="world_room_joint" type="fixed">
-        <origin xyz="0.02 -0.01 0" rpy="0 0 0" />
-        <parent link="world"/>
-        <child link="room_link"/>
-      </joint>   
-      
-  </xacro:if>
-  
-  <gazebo>
-      <static>false</static>
-  </gazebo>
-  <!--- FIXME THIS should NOT be here -->
-  <xacro:include filename="$(find iai_kitchen)/urdf/IAI_oven_area.urdf.xacro"/>
-  <xacro:include filename="$(find iai_kitchen)/urdf/IAI_kitchen_island.urdf.xacro"/>
-  <xacro:include filename="$(find iai_kitchen)/urdf/IAI_sink_area.urdf.xacro"/>
-  <xacro:include filename="$(find iai_kitchen)/urdf/IAI_fridge_area.urdf.xacro"/>
-  <xacro:include filename="$(find iai_kitchen)/urdf/IAI_tables.urdf.xacro"/>
-  <xacro:include filename="$(find iai_kitchen)/urdf/IAI_kitchen_walls.urdf.xacro"/>
-  
-  <iai_sink_area name="sink_area" parent="room_link">
-    <origin xyz="1.825 1.32 0" rpy="0 0 ${pi}" />    
-  </iai_sink_area>
-  
-  <iai_oven_area name="oven_area" parent="room_link">
-    <origin xyz="1.805 2.52 0" rpy="0 0 ${pi}" />    
-  </iai_oven_area>
-  
-  
-  <iai_kitchen_island name="kitchen_island" parent="room_link">
-    <origin xyz="-1.365 0.59 0" rpy="0 0 0" />    
-  </iai_kitchen_island>
-  
-  <iai_fridge_area name="fridge_area" parent="room_link">
-    <origin xyz="1.825 -0.74 0" rpy="0 0 ${pi}" />    
-  </iai_fridge_area>
-  
-  
-  <iai_table_1 name="table_area" parent="room_link">
-    <origin xyz="-1.4 -1.05 0" rpy="0 0 ${pi}" />
-  </iai_table_1>
-  
-  
-  <iai_kitchen_wall_robohow parent="room_link">
-    <origin xyz="-1 0.562175 0" rpy="0.0 0.0 0.0" />    
-  </iai_kitchen_wall_robohow>
- 
-
-
-  <!-- Included above already
-  <iai_sink_area name="sink_area" parent="room_link">
-    <origin xyz="-5.29 -5.65 0" rpy="0 0 0" />    
-  </iai_sink_area>
-  
-  <iai_oven_area name="oven_area" parent="room_link">
-    <origin xyz="-5.27 -6.85 0" rpy="0 0 0" />    
-  </iai_oven_area>
-  
-  
-  <iai_kitchen_island name="kitchen_island" parent="room_link">
-    <origin xyz="-2.1 -4.94 0" rpy="0 0 ${pi}" />    
-  </iai_kitchen_island>
-  
-  <iai_fridge_area name="fridge_area" parent="room_link">
-    <origin xyz="-5.29 -3.59 0" rpy="0 0 0" />    
-  </iai_fridge_area>
-  -->
- 
-</robot>
diff --git a/iai_kitchen/urdf/IAI_kitchen_island.urdf.xacro b/iai_kitchen/urdf/IAI_kitchen_island.urdf.xacro
index 59fb0d2..eff9535 100644
--- a/iai_kitchen/urdf/IAI_kitchen_island.urdf.xacro
+++ b/iai_kitchen/urdf/IAI_kitchen_island.urdf.xacro
@@ -8,13 +8,13 @@
   <xacro:include filename="$(find iai_kitchen)/urdf/IAI_drawers.urdf.xacro"/>
   
   
-  <macro name="iai_kitchen_island" params="parent name *origin">
+  <xacro:macro name="iai_kitchen_island" params="parent name *origin">
      
     <link name="${name}_footprint">    
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
     </link>
     <link name="${name}">    
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -24,7 +24,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/collision/kitchen_island.stl"/>
+          <mesh filename="package://iai_kitchen/meshes/racks/IslandArea.obj"/>
         </geometry>
       </collision>
     </link>  
@@ -42,7 +42,7 @@
     </joint>
     
     <link name="${name}_surface">    
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <collision>
           <origin xyz="0 0 0" rpy="0 0 0" />
           <geometry>
@@ -59,7 +59,7 @@
     
     
     <link name="${name}_stove">    
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
           <origin xyz="0 0 0" rpy="0 0 0" />
           <geometry>
@@ -69,7 +69,7 @@
         <collision>
           <origin xyz="0 0 0" rpy="0 0 0" />
           <geometry>
-            <mesh filename="package://iai_kitchen/meshes/misc/Stove.dae"/>
+            <mesh filename="package://iai_kitchen/meshes/misc/Stove.obj"/>
           </geometry>
         </collision>
     </link>
@@ -81,36 +81,36 @@
       <child link="${name}_stove"/>
     </joint>
     
-    <iai_generic_panel name="${name}_left_panel" parent="${name}" width="60">
+    <xacro:iai_generic_panel name="${name}_left_panel" parent="${name}" width="60">
       <origin rpy="0 0 0" xyz="0.2725 -0.8 0.329 "/>
-    </iai_generic_panel>
-    <iai_drawer_60_29 name="${name}_left_upper_drawer" parent="${name}">
+    </xacro:iai_generic_panel>
+    <xacro:iai_drawer_60_29 name="${name}_left_upper_drawer" parent="${name}">
       <origin rpy="0 0 0" xyz="0.0025 -0.8 0.114 "/>
-    </iai_drawer_60_29>
-    <iai_drawer_60_29 name="${name}_left_lower_drawer" parent="${name}">
+    </xacro:iai_drawer_60_29>
+    <xacro:iai_drawer_60_29 name="${name}_left_lower_drawer" parent="${name}">
       <origin rpy="0 0 0" xyz="0.0025 -0.8 -0.176 "/>
-    </iai_drawer_60_29>
+    </xacro:iai_drawer_60_29>
     
     
-    <iai_generic_panel name="${name}_middle_panel" parent="${name}" width="100">
+    <xacro:iai_generic_panel name="${name}_middle_panel" parent="${name}" width="100">
       <origin rpy="0 0 0" xyz="0.2725 0 0.329 "/>
-    </iai_generic_panel>
-    <iai_drawer_100_29 name="${name}_middle_upper_drawer" parent="${name}">
+    </xacro:iai_generic_panel>
+    <xacro:iai_drawer_100_29 name="${name}_middle_upper_drawer" parent="${name}">
       <origin rpy="0 0 0" xyz="0.0025 0 0.114 "/>
-    </iai_drawer_100_29>
-    <iai_drawer_100_29 name="${name}_middle_lower_drawer" parent="${name}">
+    </xacro:iai_drawer_100_29>
+    <xacro:iai_drawer_100_29 name="${name}_middle_lower_drawer" parent="${name}">
       <origin rpy="0 0 0" xyz="0.0025 0 -0.176 "/>
-    </iai_drawer_100_29>
+    </xacro:iai_drawer_100_29>
     
     
-    <iai_generic_panel name="${name}_right_panel" parent="${name}" width="60">
+    <xacro:iai_generic_panel name="${name}_right_panel" parent="${name}" width="60">
       <origin rpy="0 0 0" xyz="0.2725 0.8 0.329 "/>
-    </iai_generic_panel>
-    <iai_drawer_60_29 name="${name}_right_upper_drawer" parent="${name}">
+    </xacro:iai_generic_panel>
+    <xacro:iai_drawer_60_29 name="${name}_right_upper_drawer" parent="${name}">
       <origin rpy="0 0 0" xyz="0.0025 0.8 0.114 "/>
-    </iai_drawer_60_29>
-    <iai_drawer_60_29 name="${name}_right_lower_drawer" parent="${name}">
+    </xacro:iai_drawer_60_29>
+    <xacro:iai_drawer_60_29 name="${name}_right_lower_drawer" parent="${name}">
       <origin rpy="0 0 0" xyz="0.0025 0.8 -0.176 "/>
-    </iai_drawer_60_29>  
-  </macro>   
+    </xacro:iai_drawer_60_29>  
+  </xacro:macro>   
 </robot>
diff --git a/iai_kitchen/urdf/IAI_kitchen_walls.urdf.xacro b/iai_kitchen/urdf/IAI_kitchen_walls.urdf.xacro
index 5c4bda0..e0e1356 100644
--- a/iai_kitchen/urdf/IAI_kitchen_walls.urdf.xacro
+++ b/iai_kitchen/urdf/IAI_kitchen_walls.urdf.xacro
@@ -2,11 +2,11 @@
 
 <robot name="iai_kitchen_wall_robohow" xmlns:xacro="http://ros.org/wiki/xacro">
 
-  <macro name="iai_kitchen_wall_robohow" params="parent *origin">
+  <xacro:macro name="iai_kitchen_wall_robohow" params="parent *origin">
     <!-- LINKS -->
     
     <link name="kitchen_wall_1">
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 1.25" rpy="0 0 0" />
         <geometry>
@@ -22,7 +22,7 @@
     </link>
       
     <link name="kitchen_wall_2">
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 1.25" rpy="0 0 0" />
         <geometry>
@@ -38,7 +38,7 @@
     </link>
       
     <link name="kitchen_wall_3">
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 1.25" rpy="0 0 0" />
         <geometry>
@@ -54,7 +54,7 @@
     </link>
       
     <link name="kitchen_wall_4">
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0.35" rpy="0 0 0" />
         <geometry>
@@ -70,17 +70,17 @@
     </link>
       
     <link name="kitchen_wall_5">
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0.35" rpy="0 0 0" />
         <geometry>
-            <box size="3.27328 0.15 0.7" />
+            <box size="2.27328 0.15 0.7" />
         </geometry>
      </visual>
       <collision>
         <origin xyz="0 0 0.35" rpy="0 0 0" />
         <geometry>
-            <box size="3.27328 0.15 0.7" />
+            <box size="2.27328 0.15 0.7" />
         </geometry>
       </collision>
     </link>
@@ -88,7 +88,7 @@
     
     
     <link name="kitchen_wall_6">
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0.35" rpy="0 0 0" />
         <geometry>
@@ -101,6 +101,22 @@
             <box size="1 0.15 0.7" />
         </geometry>
       </collision>
+    </link>   
+
+    <link name="kitchen_wall_7">
+      <xacro:sphere_inertia radius="0" mass="0"/>
+      <visual>
+        <origin xyz="0 0 0.375" rpy="0 0 0" />
+        <geometry>
+            <box size="1.6 0.15 0.75" />
+        </geometry>
+     </visual>
+      <collision>
+        <origin xyz="0 0 0.375" rpy="0 0 0" />
+        <geometry>
+            <box size="1.6 0.15 0.75" />
+        </geometry>
+      </collision>
     </link>
     
     <!-- JOINTS -->
@@ -144,18 +160,25 @@
     </joint>
     
     <joint name="wall_5_joint" type="fixed">
-        <origin xyz="-1.31385 -1.58376 0" rpy="0 -0 0.000157" />
+        <origin xyz="-1.81385 -1.70376 0" rpy="0 -0 0.000157" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_5"/>
     </joint>
     
     <joint name="wall_6_joint" type="fixed">
-      <origin xyz="0.247785 -2.00851 0" rpy="0 0 -1.5708" />
+      <origin xyz="-0.65 -2.12851 0" rpy="0 0 -1.5708" />
       <parent link="kitchen_walls"/>
       <child link="kitchen_wall_6"/>
     </joint>
+
+    <joint name="wall_7_joint" type="fixed">
+      <origin xyz="1.01271 -2.556 0" rpy="0 -0 3.14159" />
+      <parent link="kitchen_walls"/>
+      <child link="kitchen_wall_7"/>
+    </joint>
+
     <gazebo reference="kitchen_wall_6">
         <material>Gazebo/DarkGrey</material>
     </gazebo>
-  </macro>
+  </xacro:macro>
 </robot>
\ No newline at end of file
diff --git a/iai_kitchen/urdf/IAI_oven.urdf.xacro b/iai_kitchen/urdf/IAI_oven.urdf.xacro
index 17b103a..809b971 100644
--- a/iai_kitchen/urdf/IAI_oven.urdf.xacro
+++ b/iai_kitchen/urdf/IAI_oven.urdf.xacro
@@ -4,12 +4,12 @@
 
   <xacro:property name="pi" value="3.1415926535897931" />
 
-  <macro name="iai_oven" params="name parent *origin">
+  <xacro:macro name="iai_oven" params="name parent *origin">
     <!-- LINKS -->
     
     <link name="${name}_main">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -19,14 +19,14 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.obj"/>
         </geometry>
       </collision>
     </link>
     
     <link name="${name}_door">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="${0.5*pi} 0 0" />
         <geometry>
@@ -36,14 +36,14 @@
       <collision>
         <origin xyz="0 0 0" rpy="${0.5*pi} 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/oven/OvenDoor.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/oven/OvenDoor.obj"/>
         </geometry>
       </collision>
     </link>
     
     <link name="${name}_door_handle">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -53,7 +53,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
         </geometry>
       </collision>
     </link>
@@ -61,7 +61,7 @@
     
     <link name="${name}_panel">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -71,7 +71,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/oven/OvenPanel.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/oven/OvenPanel.obj"/>
         </geometry>
       </collision>
     </link>
@@ -94,7 +94,7 @@
         <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
         -->
         <!-- FIXME make the closed position stable --> 
-        <limit lower="0" upper="0." effort="0.03" velocity="10"/>
+        <limit lower="0" upper="${0.5*pi}" effort="0.03" velocity="10"/>
         
         <dynamics damping="100.1"/>
       </joint>
@@ -135,30 +135,30 @@
     
     <!--KNOBS -->
     
-    <iai_oven_knob name="${name}_knob_stove_1" parent="${name}_panel" xyz="0 -0.21 0"/>
-    <iai_oven_knob name="${name}_knob_stove_2" parent="${name}_panel" xyz="0 -0.14 0"/>
-    <iai_oven_knob name="${name}_knob_stove_3" parent="${name}_panel" xyz="0 -0.07 0"/>
-    <iai_oven_knob name="${name}_knob_stove_4" parent="${name}_panel" xyz="0 -0.0 0"/>
-    <iai_oven_knob name="${name}_knob_oven" parent="${name}_panel" xyz="0 0.16 0"/>
+    <xacro:iai_oven_knob name="${name}_knob_stove_2" parent="${name}_panel" xyz="0 -0.14 0"/>
+    <xacro:iai_oven_knob name="${name}_knob_stove_1" parent="${name}_panel" xyz="0 -0.21 0"/>
+    <xacro:iai_oven_knob name="${name}_knob_stove_3" parent="${name}_panel" xyz="0 -0.07 0"/>
+    <xacro:iai_oven_knob name="${name}_knob_stove_4" parent="${name}_panel" xyz="0 -0.0 0"/>
+    <xacro:iai_oven_knob name="${name}_knob_oven" parent="${name}_panel" xyz="0 0.16 0"/>
     
-  </macro>
+  </xacro:macro>
 
   
   
-  <macro name="iai_oven_knob" params="name parent xyz">
+  <xacro:macro name="iai_oven_knob" params="name parent xyz">
     <link name="${name}">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 ${0.5 * pi} 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
         </geometry>
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 ${0.5 * pi} 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/oven/Knob.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
         </geometry>
       </collision>
     </link>
@@ -171,14 +171,14 @@
       <limit lower="0" upper="${pi}" effort="300" velocity="10"/>
     </joint>
     
-  </macro>
+  </xacro:macro>
   
 
   <!--- FIXME THIS should NOT be here -->
 <!--
   <link name="oven_footprint">
     
-    <sphere_inertia radius="0" mass="0"/>
+    <xacro:sphere_inertia radius="0" mass="0"/>
   </link>
   <iai_oven name="iai_oven" parent="oven_footprint"/>
   -->
diff --git a/iai_kitchen/urdf/IAI_oven_area.urdf.xacro b/iai_kitchen/urdf/IAI_oven_area.urdf.xacro
index 16601ee..d9c3ae7 100644
--- a/iai_kitchen/urdf/IAI_oven_area.urdf.xacro
+++ b/iai_kitchen/urdf/IAI_oven_area.urdf.xacro
@@ -8,13 +8,13 @@
   <xacro:include filename="$(find iai_kitchen)/urdf/IAI_drawers.urdf.xacro"/>
   <xacro:include filename="$(find iai_kitchen)/urdf/IAI_oven.urdf.xacro"/>
   
-  <macro name="iai_oven_area" params="parent name *origin">
+  <xacro:macro name="iai_oven_area" params="parent name *origin">
   <link name="${name}_area_footprint">    
-    <sphere_inertia radius="0" mass="0"/>
+    <xacro:sphere_inertia radius="0" mass="0"/>
   </link>
   
   <link name="${name}_area">    
-    <sphere_inertia radius="0" mass="0"/>
+    <xacro:sphere_inertia radius="0" mass="0"/>
     <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -24,7 +24,7 @@
     <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/collision/kitchen_oven_area.stl"/>
+          <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.obj"/>
         </geometry>
       </collision>
   </link>
@@ -41,29 +41,29 @@
     <child link="${name}_area"/>
   </joint>
   
-  <iai_oven name="${name}_oven" parent="${name}_area">
+  <xacro:iai_oven name="${name}_oven" parent="${name}_area">
     <origin rpy="0 0 0" xyz="0.0 0.0 0.415"/>
-  </iai_oven>
+  </xacro:iai_oven>
   
-  <iai_drawer_60_14 name="${name}_area_middle_upper_drawer" parent="${name}_area">
+  <xacro:iai_drawer_60_14 name="${name}_area_middle_upper_drawer" parent="${name}_area">
     <origin rpy="0 0 0" xyz="0.0 -0. 0.045 "/>
-  </iai_drawer_60_14>
+  </xacro:iai_drawer_60_14>
   
   
-  <iai_drawer_60_58 name="${name}_area_middle_lower_drawer" parent="${name}_area">
+  <xacro:iai_drawer_60_58 name="${name}_area_middle_lower_drawer" parent="${name}_area">
     <origin rpy="0 0 0" xyz="0.0 -0. -0.315 "/>
-  </iai_drawer_60_58>
+  </xacro:iai_drawer_60_58>
   
   
-  <iai_vdrawer name="${name}_area_left_drawer" parent="${name}_area">
-    <origin rpy="0 0 0" xyz="0.0 -0.45 0.06 "/>
-  </iai_vdrawer>
+  <xacro:iai_vdrawer name="${name}_area_left_drawer" parent="${name}_area">
+    <origin rpy="0 0 0" xyz="0.29 -0.45 0.07 "/>
+  </xacro:iai_vdrawer>
   
-  <iai_vdrawer name="${name}_area_right_drawer" parent="${name}_area">
-    <origin rpy="0 0 0" xyz="0.0 0.45 0.06 "/>
-  </iai_vdrawer>
+  <xacro:iai_vdrawer name="${name}_area_right_drawer" parent="${name}_area">
+    <origin rpy="0 0 0" xyz="0.29 0.45 0.07"/>
+  </xacro:iai_vdrawer>
   
   
-  </macro> 
+  </xacro:macro> 
   
-</robot>
\ No newline at end of file
+</robot>
diff --git a/iai_kitchen/urdf/IAI_sink_area.urdf.xacro b/iai_kitchen/urdf/IAI_sink_area.urdf.xacro
index 05657ce..968d051 100644
--- a/iai_kitchen/urdf/IAI_sink_area.urdf.xacro
+++ b/iai_kitchen/urdf/IAI_sink_area.urdf.xacro
@@ -8,13 +8,13 @@
   <xacro:include filename="$(find iai_kitchen)/urdf/IAI_drawers.urdf.xacro"/>
   <xacro:include filename="$(find iai_kitchen)/urdf/IAI_dish_washer.urdf.xacro"/>
   
-  <macro name="iai_sink_area" params="parent name *origin">
+  <xacro:macro name="iai_sink_area" params="parent name *origin">
   <link name="${name}_footprint">    
-    <sphere_inertia radius="0" mass="0"/>
+    <xacro:sphere_inertia radius="0" mass="0"/>
   </link>
   
   <link name="${name}">    
-    <sphere_inertia radius="0" mass="0"/>
+    <xacro:sphere_inertia radius="0" mass="0"/>
     <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -24,7 +24,7 @@
     <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/collision/kitchen_sink.stl"/>
+          <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.obj"/>
         </geometry>
       </collision>
   </link>
@@ -42,64 +42,65 @@
   </joint>
   
   
-  
-  <link name="${name}_surface">    
-    <sphere_inertia radius="0" mass="0"/>
+  <link name="${name}_surface">
+    <xacro:sphere_inertia radius="0" mass="0"/>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 -0.225 0" rpy="0 0 0" />
       <geometry>
-        <box size="0.575 2.05 0.02"/>
+        <box size="0.575 1.6 0.02"/>
       </geometry>
     </collision>
   </link>
-  
-  <joint name="${name}_surface_joint" type="fixed">
+
+ <joint name="${name}_surface_joint" type="fixed">
     <origin xyz="0.0 0. 0.43" rpy="0 0 0" />
     <parent link="${name}"/>
     <child link="${name}_surface"/>
-  </joint>
+ </joint>
+
+
   
   
   <link name="${name}_sink">    
-    <sphere_inertia radius="0" mass="0"/>
+    <xacro:sphere_inertia radius="0" mass="0"/>
     <visual>
-      <origin xyz="0 0.1 -0.03" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <mesh filename="package://iai_kitchen/meshes/misc/Sink.dae"/>
       </geometry>
     </visual>
     <collision>
-      <origin xyz="0 0.1 -0.43" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/Sink.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/misc/Sink.obj"/>
       </geometry>
     </collision>
   </link>
   
   <joint name="${name}_sink_joint" type="fixed">
-    <origin xyz="0.005 0.57 0.4114" rpy="0 0 0" />
+    <origin xyz="0.005 0.47 0.4414" rpy="0 0 0" />
     <parent link="${name}"/>
     <child link="${name}_sink"/>
   </joint>
   
-  <iai_generic_panel name="${name}_right_panel" parent="${name}" width="60">
+  <xacro:iai_generic_panel name="${name}_right_panel" parent="${name}" width="60">
     <origin rpy="0 0 0" xyz="0.28 0.7 0.355 "/>
-  </iai_generic_panel>
-  <iai_drawer_60_58 name="${name}_trash_drawer" parent="${name}">
+  </xacro:iai_generic_panel>
+  <xacro:iai_drawer_60_58 name="${name}_trash_drawer" parent="${name}">
     <origin rpy="0 0 0" xyz="0.01 0.7 -0.015 "/>
-  </iai_drawer_60_58>
-  <iai_drawer_80_14 name="${name}_left_upper_drawer" parent="${name}">
+  </xacro:iai_drawer_60_58>
+  <xacro:iai_drawer_80_14 name="${name}_left_upper_drawer" parent="${name}">
     <origin rpy="0 0 0" xyz="0.01 -0.6 0.345 "/>
-  </iai_drawer_80_14>
-  <iai_drawer_80_29 name="${name}_left_middle_drawer" parent="${name}">
+  </xacro:iai_drawer_80_14>
+  <xacro:iai_drawer_80_29 name="${name}_left_middle_drawer" parent="${name}">
     <origin rpy="0 0 0" xyz="0.01 -0.6 0.12 "/>
-  </iai_drawer_80_29>
-  <iai_drawer_80_29 name="${name}_left_bottom_drawer" parent="${name}">
-    <origin rpy="0 0 0" xyz="0.01 -0.6 -0.18 "/>
-  </iai_drawer_80_29>
-  <iai_dish_washer name="${name}_dish_washer" parent="${name}">
-    <origin rpy="0 0 0" xyz="0.01 0.1 0.044 "/>
-  </iai_dish_washer>
-  </macro> 
+  </xacro:iai_drawer_80_29>
+  <xacro:iai_drawer_80_29 name="${name}_left_bottom_drawer" parent="${name}">
+    <origin rpy="0 0 0" xyz="0.01 -0.6 -0.18" />
+  </xacro:iai_drawer_80_29>
+  <xacro:iai_dish_washer name="${name}_dish_washer" parent="${name}">
+    <origin rpy="0 0 0" xyz="0.01 0.1 0.06" />
+  </xacro:iai_dish_washer>
+  </xacro:macro> 
   
-</robot>
\ No newline at end of file
+</robot>
diff --git a/iai_kitchen/urdf/IAI_tables.urdf.xacro b/iai_kitchen/urdf/IAI_tables.urdf.xacro
index ff888b1..a4a3c79 100644
--- a/iai_kitchen/urdf/IAI_tables.urdf.xacro
+++ b/iai_kitchen/urdf/IAI_tables.urdf.xacro
@@ -1,34 +1,93 @@
 <?xml version="1.0"?>
 
 <robot name="iai_table" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <macro name="iai_table_1" params="name parent *origin">
-    <!-- LINKS -->
-    
+  <xacro:macro name="iai_table_1" params="name parent *origin">
     <link name="${name}_main">
-      
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
-        <origin xyz="0 0 0.3619" rpy="0 0 0" />
+        <origin xyz="0 0 0.3619" rpy="0 0 0"/>
         <geometry>
           <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.dae"/>
         </geometry>
       </visual>
       <collision>
-        <origin xyz="0 0 0.3619" rpy="0 0 0" />
+        <origin xyz="0 0 0.3619" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.stl"/>
+          <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.obj"/>
         </geometry>
       </collision>
     </link>
-      
-    
-    <!-- JOINTS -->
-    
     <joint name="${name}_main_joint" type="fixed">
-      <xacro:insert_block name="origin" />
+      <xacro:insert_block name="origin"/>
       <parent link="${parent}"/>
       <child link="${name}_main"/>
     </joint>
-  </macro>
+  </xacro:macro>
+
+  <xacro:macro name="jokkmokk_table" params="name parent *origin">
+    <link name="${name}_main">
+      <xacro:sphere_inertia radius="0" mass="0"/>
+      <visual>
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkTable.obj"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkTable.obj"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${name}_main_joint" type="fixed">
+      <xacro:insert_block name="origin"/>
+      <parent link="${parent}"/>
+      <child link="${name}_main"/>
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+    </joint>
+  </xacro:macro>
+
+  <xacro:macro name="jokkmokk_chair" params="name parent *origin">
+    <link name="${name}_main">
+      <xacro:sphere_inertia radius="0" mass="0"/>
+      <visual>
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${name}_main_joint" type="fixed">
+      <xacro:insert_block name="origin"/>
+      <parent link="${parent}"/>
+      <child link="${name}_main"/>
+    </joint>
+  </xacro:macro>
+
+  <xacro:macro name="iai_dining_area" params="parent name *origin">
+    <link name="${name}_footprint">
+      <xacro:sphere_inertia radius="0" mass="0"/>
+    </link>
+    <joint name="${name}_footprint_joint" type="fixed">
+      <xacro:insert_block name="origin" />
+      <child link="${name}_footprint"/>
+      <parent link="${parent}"/>
+    </joint>
+    <xacro:jokkmokk_table name="${name}_jokkmokk_table" parent="${name}_footprint">
+      <origin xyz="0 0 0.35" rpy="0 0 0" />
+    </xacro:jokkmokk_table>
+    <xacro:jokkmokk_chair name="${name}_jokkmokk_left_chair" parent="${name}_footprint">
+      <origin xyz="-1 0 0.5535" rpy="0 0 0" />
+    </xacro:jokkmokk_chair>
+    <xacro:jokkmokk_chair name="${name}_jokkmokk_right_chair" parent="${name}_footprint">
+      <origin xyz="1 0 0.5535" rpy="0 0 ${-pi}" />
+    </xacro:jokkmokk_chair>
+  </xacro:macro>
 </robot>
diff --git a/iai_kitchen/urdf/green_bowl.urdf b/iai_kitchen/urdf/green_bowl.urdf
index 825b2c5..763a775 100644
--- a/iai_kitchen/urdf/green_bowl.urdf
+++ b/iai_kitchen/urdf/green_bowl.urdf
@@ -4,7 +4,7 @@
   <link name="green_bowl_frame">
     <visual>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/BoxyToolholder/green_bowl.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/racks/BoxyToolholder/green_bowl.obj"/>
       </geometry>
     </visual>
   </link>
diff --git a/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro b/iai_kitchen/urdf/iai_kitchen_python.urdf.xacro
similarity index 78%
rename from iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro
rename to iai_kitchen/urdf/iai_kitchen_python.urdf.xacro
index f6d0d14..2263968 100644
--- a/iai_kitchen/urdf_obj/iai_kitchen_python.urdf.xacro
+++ b/iai_kitchen/urdf/iai_kitchen_python.urdf.xacro
@@ -2,12 +2,12 @@
 
 <robot name="iai_kitchen" xmlns:xacro="http://ros.org/wiki/xacro">
 
-  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_oven_area.urdf.xacro"/>
-  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_kitchen_island.urdf.xacro"/>
-  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_sink_area.urdf.xacro"/>
-  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_fridge_area.urdf.xacro"/>
-  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_tables.urdf.xacro"/>
-  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_kitchen_walls.urdf.xacro"/>
+  <xacro:include filename="$(find iai_kitchen)/urdf/IAI_oven_area.urdf.xacro"/>
+  <xacro:include filename="$(find iai_kitchen)/urdf/IAI_kitchen_island.urdf.xacro"/>
+  <xacro:include filename="$(find iai_kitchen)/urdf/IAI_sink_area.urdf.xacro"/>
+  <xacro:include filename="$(find iai_kitchen)/urdf/IAI_fridge_area.urdf.xacro"/>
+  <xacro:include filename="$(find iai_kitchen)/urdf/IAI_tables.urdf.xacro"/>
+  <xacro:include filename="$(find iai_kitchen)/urdf/IAI_kitchen_walls.urdf.xacro"/>
 
   <xacro:property name="pi" value="3.1415926535897931" />
   <xacro:property name="simulated" value="true" />
@@ -24,7 +24,7 @@
   </xacro:macro>
 
   <link name="room_link">
-    <sphere_inertia radius="0" mass="0"/>
+    <xacro:sphere_inertia radius="0" mass="0"/>
   </link>
   <xacro:if value="${simulated}">
     <link name="world"/>
diff --git a/iai_kitchen/urdf/red_bowl.urdf b/iai_kitchen/urdf/red_bowl.urdf
index 469d009..7c5d3d6 100644
--- a/iai_kitchen/urdf/red_bowl.urdf
+++ b/iai_kitchen/urdf/red_bowl.urdf
@@ -5,7 +5,7 @@
     <visual>
       <origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/BoxyToolholder/red_bowl.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/racks/BoxyToolholder/red_bowl.obj"/>
       </geometry>
     </visual>
   </link>
diff --git a/iai_kitchen/urdf/sink_area.urdf.xacro b/iai_kitchen/urdf/sink_area.urdf.xacro
index aa03f3a..c977bce 100644
--- a/iai_kitchen/urdf/sink_area.urdf.xacro
+++ b/iai_kitchen/urdf/sink_area.urdf.xacro
@@ -1,17 +1,12 @@
 <?xml version="1.0"?>
 
 <robot name="iai_kitchen_sink_area" xmlns:xacro="http://ros.org/wiki/xacro">
-<!--
-  <xacro:include filename="$(find iai_kitchen)/urdf/drawers.xacro" />
--->
 
   <xacro:property name="pi" value="3.1415926535897931" />
 
-
-
     <link name="sink_area_footprint">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <!-- ???vizualize footprint??? -->
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -23,7 +18,7 @@
     
     <link name="sink_area_main">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <!-- ???vizualize footprint??? -->
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -34,7 +29,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkArea.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/SinkArea.obj"/>
         </geometry>
       </collision>
     </link>
@@ -52,7 +47,7 @@
     <!-- LEFT BLOCK -->
     <link name="sink_area_drawer_left_bottom">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <!-- ???vizualize footprint??? -->
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -63,7 +58,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaMedDrawer.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/SinkAreaMedDrawer.obj"/>
         </geometry>
       </collision>
     </link>
@@ -80,7 +75,7 @@
     
     <link name="sink_area_drawer_left_bottom_handle">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <!-- ???vizualize footprint??? -->
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -91,7 +86,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaBigHandle.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/SinkAreaBigHandle.obj"/>
         </geometry>
       </collision>
     </link>
@@ -108,7 +103,7 @@
     
     <link name="sink_area_drawer_left_center">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <!-- ???vizualize footprint??? -->
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -119,7 +114,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaMedDrawer.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/SinkAreaMedDrawer.obj"/>
         </geometry>
       </collision>
     </link>
@@ -136,7 +131,7 @@
     
     <link name="sink_area_drawer_left_center_handle">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -146,7 +141,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaBigHandle.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/SinkAreaBigHandle.obj"/>
         </geometry>
       </collision>
     </link>
@@ -161,7 +156,7 @@
     
     <link name="sink_area_drawer_left_top">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <!-- ???vizualize footprint??? -->
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -172,7 +167,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaSmallDrawer.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/SinkAreaSmallDrawer.obj"/>
         </geometry>
       </collision>
     </link>
@@ -188,7 +183,7 @@
     
     <link name="sink_area_drawer_left_top_handle">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -198,7 +193,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaBigHandle.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/SinkAreaBigHandle.obj"/>
         </geometry>
       </collision>
     </link>
@@ -217,7 +212,7 @@
     
     <link name="sink_area_inner_dishwasher">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -227,7 +222,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaInnerDishWasher.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/SinkAreaInnerDishWasher.obj"/>
         </geometry>
       </collision>
     </link>
@@ -240,7 +235,7 @@
     
     <link name="sink_area_dishwasher_door">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -250,7 +245,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaDishWasherDoor.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/SinkAreaDishWasherDoor.obj"/>
         </geometry>
       </collision>
     </link>
@@ -265,7 +260,7 @@
     
     <link name="sink_area_dishwasher_handle">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -275,7 +270,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaSmallHandle.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/SinkAreaSmallHandle.obj"/>
         </geometry>
       </collision>
     </link>
@@ -293,7 +288,7 @@
     
     <link name="sink_area_panel">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -303,7 +298,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaPanel.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/SinkAreaPanel.obj"/>
         </geometry>
       </collision>
     </link>
@@ -317,7 +312,7 @@
     
     <link name="sink_area_trash">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -327,7 +322,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaTrash.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/SinkAreaTrash.obj"/>
         </geometry>
       </collision>
     </link>
@@ -342,7 +337,7 @@
     
     
     <link name="sink_area_trash_handle">      
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -352,7 +347,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaSmallHandle.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/SinkAreaSmallHandle.obj"/>
         </geometry>
       </collision>
     </link>
@@ -365,7 +360,7 @@
     
     
     <link name="sink_area_sink">      
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
@@ -375,7 +370,7 @@
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0" />
         <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaSink.dae"/>
+          <mesh filename="package://iai_kitchen/meshes/SinkAreaSink.obj"/>
         </geometry>
       </collision>
     </link>
diff --git a/iai_kitchen/urdf/tray.urdf b/iai_kitchen/urdf/tray.urdf
index caf8f80..3b9f675 100644
--- a/iai_kitchen/urdf/tray.urdf
+++ b/iai_kitchen/urdf/tray.urdf
@@ -5,7 +5,7 @@
     <visual>
       <origin rpy="0 0 1.57" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/BoxyToolholder/tray.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/racks/BoxyToolholder/tray.obj"/>
       </geometry>
     </visual>
   </link>
diff --git a/iai_kitchen/urdf/yellow_bowl.urdf b/iai_kitchen/urdf/yellow_bowl.urdf
index d137570..d836ad2 100644
--- a/iai_kitchen/urdf/yellow_bowl.urdf
+++ b/iai_kitchen/urdf/yellow_bowl.urdf
@@ -5,7 +5,7 @@
     <visual>
       <origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0"/>
       <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/BoxyToolholder/yellow_bowl.dae"/>
+        <mesh filename="package://iai_kitchen/meshes/racks/BoxyToolholder/yellow_bowl.obj"/>
       </geometry>
     </visual>
   </link>
diff --git a/iai_kitchen/urdf_obj/IAI_dish_washer.urdf.xacro b/iai_kitchen/urdf_obj/IAI_dish_washer.urdf.xacro
deleted file mode 100644
index 6a29fbf..0000000
--- a/iai_kitchen/urdf_obj/IAI_dish_washer.urdf.xacro
+++ /dev/null
@@ -1,275 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="iai_dish_washer" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:property name="pi" value="3.1415926535897931" />
-
-  <xacro:macro name="iai_dish_washer" params="name parent *origin">
-     <link name="${name}_main">
-
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.obj"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name="${name}_door">
-
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0.055 0" rpy="${0.5*pi} 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0.055 0" rpy="${0.5*pi} 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.obj"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name="${name}_door_handle">
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    <!--
-    <xacro:if value="simulated"/>
-    -->
-    <joint name="${name}_main_joint" type="fixed">
-      <xacro:insert_block name="origin" />
-      <parent link="${parent}"/>
-      <child link="${name}_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="${name}_door_joint" type="revolute">
-      <origin xyz="0.27 0. -0.285" rpy="${-0.5*pi} 0 0" />
-      <parent link="${name}_main"/>
-      <child link="${name}_door"/>
-      <axis xyz="0 0 1"/>
-      <!--
-      <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
-      -->
-      <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
-    </joint>
-    <!--
-    </xacro:unless>
-  -->
-    <joint name="${name}_door_handle_joint" type="fixed">
-      <origin xyz="0.085 -0.575 0.0" rpy="${-0.5*pi} 0 0" />
-      <parent link="${name}_door"/>
-      <child link="${name}_door_handle"/>
-    </joint>
-
-    <xacro:dishwasher_tray name="${name}_tray" parent="${name}_main">
-      <origin xyz="-0.08 0 0.15"/>
-    </xacro:dishwasher_tray>
-
-  </xacro:macro>
-
-  <xacro:macro name="dishwasher_tray" params="name parent *origin">
-
-    <joint name="${name}_main" type="prismatic">
-      <xacro:insert_block name="origin"/>
-      <parent link="${parent}"/>
-      <child link="${name}_bottom"/>
-      <axis xyz="1 0 0"/>
-      <limit lower="0" upper="0.48" effort="300" velocity="10"/>
-    </joint>
-
-
-    <link name="${name}_bottom">
-      <visual>
-        <geometry>
-          <box size="0.32 0.5 0.05"/>
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <box size="0.32 0.5 0.05"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name="${name}_left_side">
-      <visual>
-        <geometry>
-          <box size="0.32 0.005 0.17"/>
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <box size="0.32 0.005 0.17"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name="${name}_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="${name}_back_side">
-      <visual>
-        <geometry>
-          <box size="0.005 0.5 0.17"/>
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <box size="0.005 0.5 0.17"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name="${name}_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="${name}_bottom_left" type="fixed">
-      <origin xyz="-0.0 -0.25 0.075"/>
-      <child link="${name}_left_side" />
-      <parent link="${name}_bottom"/>
-    </joint>
-
-    <joint name="${name}_bottom_right" type="fixed">
-      <origin xyz="-0.0 0.25 0.075"/>
-      <child link="${name}_right_side" />
-      <parent link="${name}_bottom"/>
-    </joint>
-
-    <joint name="${name}_bottom_back" type="fixed">
-      <origin xyz="-0.16 0 0.075"/>
-      <child link="${name}_back_side" />
-      <parent link="${name}_bottom"/>
-    </joint>
-
-    <joint name="${name}_bottom_front" type="fixed">
-      <origin xyz="0.16 0 0.075"/>
-      <child link="${name}_front_side" />
-      <parent link="${name}_bottom"/>
-    </joint>
-
-    <xacro:tray_handle name="${name}_handle" parent="${name}_front_side">
-      <origin xyz="0.06 -0.1 -0.02"/>
-    </xacro:tray_handle>
-
-  </xacro:macro>
-
-  <xacro:macro name="tray_handle" params="name parent *origin">
-
-    <joint name="${name}_joint" type="fixed">
-      <xacro:insert_block name="origin"/>
-      <child link="${name}_front_side" />
-      <parent link="${parent}"/>
-    </joint>
-
-    <link name="${name}_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="${name}_right_side">
-      <visual>
-        <geometry>
-          <box size="0.03 0.01 0.01"/>
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <box size="0.03 0.01 0.01"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name="${name}_front_side">
-      <visual>
-        <geometry>
-          <box size="0.01 0.2 0.01"/>
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <box size="0.01 0.2 0.01"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name="${name}_front_left_joint" type="fixed">
-      <origin xyz="-0.01 -0.1 0"/>
-      <child link="${name}_left_side" />
-      <parent link="${name}_front_side"/>
-    </joint>
-
-    <joint name="${name}_front_right_joint" type="fixed">
-      <origin xyz="-0.01 0.1 0"/>
-      <child link="${name}_right_side" />
-      <parent link="${name}_front_side"/>
-    </joint>
-
-
-  </xacro:macro>
-
-</robot>
diff --git a/iai_kitchen/urdf_obj/IAI_drawers.urdf b/iai_kitchen/urdf_obj/IAI_drawers.urdf
deleted file mode 100644
index 31b2acf..0000000
--- a/iai_kitchen/urdf_obj/IAI_drawers.urdf
+++ /dev/null
@@ -1,190 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from IAI_drawers.urdf.xacro         | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="iai_drawers" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!--- FIXME THIS should NOT be here -->
-  <link name="map">
-    <sphere_inertia mass="0" radius="0"/>
-  </link>
-  <link name="drawer_1_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="drawer_1_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="drawer_1_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0 0 1"/>
-    <parent link="map"/>
-    <child link="drawer_1_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="drawer_1_handle_joint" type="fixed">
-    <xacro:property name="handle_origin">
-      <origin rpy="0 0 0" xyz="0.3325 0 0.0175"/>
-    </xacro:property>
-    <parent link="drawer_1_main"/>
-    <child link="drawer_1_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <link name="drawer_2_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="drawer_2_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="drawer_2_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0 0 2"/>
-    <parent link="map"/>
-    <child link="drawer_2_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="drawer_2_handle_joint" type="fixed">
-    <xacro:property name="handle_origin">
-      <origin rpy="0 0 0" xyz="0.3325 0 0.0175"/>
-    </xacro:property>
-    <parent link="drawer_2_main"/>
-    <child link="drawer_2_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <link name="drawer_3_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="drawer_3_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="drawer_3_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0 0 3"/>
-    <parent link="map"/>
-    <child link="drawer_3_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="drawer_3_handle_joint" type="fixed">
-    <handle_origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
-    <parent link="drawer_3_main"/>
-    <child link="drawer_3_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <link name="drawer_4_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="drawer_4_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="drawer_4_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0 0 4"/>
-    <parent link="map"/>
-    <child link="drawer_4_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="drawer_4_handle_joint" type="fixed">
-    <handle_origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
-    <parent link="drawer_4_main"/>
-    <child link="drawer_4_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <link name="drawer_5_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="drawer_5_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="drawer_5_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0 0 5"/>
-    <parent link="map"/>
-    <child link="drawer_5_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="drawer_5_handle_joint" type="fixed">
-    <handle_origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
-    <parent link="drawer_5_main"/>
-    <child link="drawer_5_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-</robot>
diff --git a/iai_kitchen/urdf_obj/IAI_drawers.urdf.xacro b/iai_kitchen/urdf_obj/IAI_drawers.urdf.xacro
deleted file mode 100644
index dfcf2b5..0000000
--- a/iai_kitchen/urdf_obj/IAI_drawers.urdf.xacro
+++ /dev/null
@@ -1,352 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="iai_drawers" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:property name="pi" value="3.1415926535897931" />
-
-  
-  
-  <xacro:macro name="iai_drawer_60_14" params="name parent *origin">
-    <xacro:iai_drawer_14 name="${name}" parent="${parent}" width="60">
-      <xacro:insert_block name="origin" />
-    </xacro:iai_drawer_14>
-  </xacro:macro>
-  
-  <xacro:macro name="iai_drawer_80_14" params="name parent *origin">
-    <xacro:iai_drawer_14 name="${name}" parent="${parent}" width="80">
-      <xacro:insert_block name="origin" />
-    </xacro:iai_drawer_14>
-  </xacro:macro>
-  
-  <xacro:macro name="iai_drawer_60_29" params="name parent *origin">
-    <xacro:iai_drawer_29 name="${name}" parent="${parent}" width="60">
-      <xacro:insert_block name="origin" />
-    </xacro:iai_drawer_29>
-  </xacro:macro>
-  
-  <xacro:macro name="iai_drawer_80_29" params="name parent *origin">
-    <xacro:iai_drawer_29 name="${name}" parent="${parent}" width="80">
-      <xacro:insert_block name="origin" />
-    </xacro:iai_drawer_29>
-  </xacro:macro>
-  
-  
-  <xacro:macro name="iai_drawer_100_29" params="name parent *origin">
-    <xacro:iai_drawer_29 name="${name}" parent="${parent}" width="100">
-      <xacro:insert_block name="origin" />
-    </xacro:iai_drawer_29>
-  </xacro:macro>
-  
-  
-  <xacro:macro name="iai_drawer_60_58" params="name parent *origin">
-    <xacro:iai_drawer_58 name="${name}" parent="${parent}" width="60">
-      <xacro:insert_block name="origin" />
-    </xacro:iai_drawer_58>
-  </xacro:macro>
-  
-  <xacro:macro name="iai_drawer_58" params="name parent width *origin">
-    
-    <xacro:iai_generic_drawer name="${name}" parent="${parent}" width="${width}" height="58">
-      <xacro:insert_block name="origin" />
-      <origin xyz="0.37 0 0.25" rpy="0 0 0" />
-    </xacro:iai_generic_drawer>
-  </xacro:macro>
-
-
-  <xacro:property name="board_x" value="0.49"/>
-  <xacro:property name="board_y" value="0.25"/>
-  <xacro:property name="board_z" value="0.036"/>
-  <xacro:property name="barrier_z" value="0.1"/>
-  <xacro:macro name="iai_vdrawer_board" params="name parent joint_origin_z">
-    <link name="${parent}_board_${name}_link">
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <box size="${board_x} ${board_y} ${board_z}"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <box size="${board_x} ${board_y} ${board_z}"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name="${parent}_board_${name}_joint" type="fixed">
-      <origin xyz="${-board_y} 0 ${joint_origin_z}"/>
-      <parent link="${parent}_main"/>
-      <child link="${parent}_board_${name}_link"/>
-    </joint>
-
-    <link name="${parent}_barrier_${name}_right_link">
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <box size="${board_x} ${board_z} ${barrier_z}"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <box size="${board_x} ${board_z} ${barrier_z}"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name="${parent}_barrier_${name}_right_joint" type="fixed">
-      <origin xyz="${-board_y} ${-board_y / 2 + board_z / 2} ${joint_origin_z + barrier_z/2 - board_z/2}"/>
-      <parent link="${parent}_main"/>
-      <child link="${parent}_barrier_${name}_right_link"/>
-    </joint>
-
-    <link name="${parent}_barrier_${name}_left_link">
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <box size="${board_x} ${board_z} ${barrier_z}"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <box size="${board_x} ${board_z} ${barrier_z}"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name="${parent}_barrier_${name}_left_joint" type="fixed">
-      <origin xyz="${-board_y} ${board_y / 2 - board_z / 2} ${joint_origin_z + barrier_z/2 - board_z/2}"/>
-      <parent link="${parent}_main"/>
-      <child link="${parent}_barrier_${name}_left_link"/>
-    </joint>
-
-    <link name="${parent}_barrier_${name}_back_link">
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <box size="${board_z} ${board_y} ${barrier_z}"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <box size="${board_z} ${board_y} ${barrier_z}"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name="${parent}_barrier_${name}_back_joint" type="fixed">
-      <origin xyz="${-board_x / 2 + board_z / 2 - board_y} 0 ${joint_origin_z + barrier_z/2 - board_z/2}"/>
-      <parent link="${parent}_main"/>
-      <child link="${parent}_barrier_${name}_back_link"/>
-    </joint>
-  </xacro:macro>
-
-
-
-  <xacro:macro name="iai_vdrawer" params="name parent *origin">
-    <joint name="${name}_main_joint" type="prismatic">
-      <xacro:insert_block name="origin"/>
-      <parent link="${parent}"/>
-      <child link="${name}_main"/>
-      <axis xyz="1. 0. 0.0"/>
-      <limit effort="300" lower="0" upper="0.48" velocity="10"/>
-    </joint>
-
-    <link name="${name}_main">
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <box size="0.025 0.3 1.33"/>
-        </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="${name}_main_padding_joint" type="fixed">
-      <parent link="${name}_main"/>
-      <child link="${name}_main_padding"/>
-      <origin rpy="0 0 0" xyz="-0.03 0.0 0.0"/>
-    </joint>
-    <link name="${name}_main_padding">
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <box size="0.06 0.3 1.33"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <box size="0.06 0.3 1.33"/>
-        </geometry>
-      </collision>
-    </link>
-
-
-    <joint name="${name}_handle_joint" type="fixed">
-      <origin rpy="${-0.5*pi} 0 0" xyz="0.08 0.0 0.05"/>
-      <parent link="${name}_main" />
-      <child link="${name}_handle" />
-    </joint>
-
-    <link name="${name}_handle">
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="${0.5*pi} 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="${0.5*pi} 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.obj"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <xacro:iai_vdrawer_board name="0" parent="${name}" joint_origin_z="-0.6"/>
-    <xacro:iai_vdrawer_board name="1" parent="${name}" joint_origin_z="-0.28"/>
-    <xacro:iai_vdrawer_board name="2" parent="${name}" joint_origin_z="0.05"/>
-    <xacro:iai_vdrawer_board name="3" parent="${name}" joint_origin_z="0.38"/>
-  </xacro:macro>
-
-
-  <xacro:macro name="iai_drawer_29" params="name parent width *origin">
-    
-    <xacro:iai_generic_drawer name="${name}" parent="${parent}" width="${width}" height="29">
-      <xacro:insert_block name="origin" />
-      <origin xyz="0.3525 0 0.11" rpy="0 0 0" />
-    </xacro:iai_generic_drawer>
-  </xacro:macro>
-  
-  <xacro:macro name="iai_drawer_14" params="name parent width *origin">
-    
-    <xacro:iai_generic_drawer name="${name}" parent="${parent}" width="${width}" height="14">
-      <xacro:insert_block name="origin" />
-      <origin xyz="0.3525 0 0.0175" rpy="0 0 0" />
-    </xacro:iai_generic_drawer>
-  </xacro:macro>
-  
-  
-  
-  <xacro:macro name="iai_generic_drawer" params="name parent width height *origin *handle_origin">
-    <link name="${name}_main">      
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_${width}_${height}.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_${width}_${height}.obj"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name="${name}_handle">      
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/handles/Handle${width}.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/handles/Handle${width}.obj"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name="${name}_main_joint" type="prismatic">
-      <xacro:insert_block name="origin" />
-      <parent link="${parent}"/>
-      <child link="${name}_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="${name}_handle_joint" type="fixed">
-      <xacro:insert_block name="handle_origin"/>
-      <parent link="${name}_main"/>
-      <child link="${name}_handle"/>
-      <axis xyz="0 0 1"/>
-      <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
-    </joint>      
-  </xacro:macro>
-  
-  
-  <xacro:macro name="iai_generic_panel" params="name parent width *origin">
-    <link name="${name}">      
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/drawers/Panel_${width}.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/drawers/Panel_${width}.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    
-    <joint name="${name}_joint" type="fixed">
-      <xacro:insert_block name="origin"/>
-      <parent link="${parent}"/>
-      <child link="${name}"/>
-    </joint>      
-  </xacro:macro>
-
-  
-  <!--- 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>
-  -->
-</robot>
diff --git a/iai_kitchen/urdf_obj/IAI_fridge.urdf.xacro b/iai_kitchen/urdf_obj/IAI_fridge.urdf.xacro
deleted file mode 100644
index 6f845d0..0000000
--- a/iai_kitchen/urdf_obj/IAI_fridge.urdf.xacro
+++ /dev/null
@@ -1,302 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="iai_fridge" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:property name="pi" value="3.1415926535897931" />
-
-  <xacro:macro name="iai_fridge" params="name parent *origin">
-
-     <link name="${name}_main">
-
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/misc/Fridge.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/misc/Fridge.obj"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name="${name}_main_middle_level">
-
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <box size="0.29 0.50 0.01"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <box size="0.29 0.50 0.01"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name="${name}_door">
-
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.obj"/>
-        </geometry>
-      </collision>
-  </link>
-
-  <link name="${name}_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="${name}_door_handle">
-
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.obj"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name="${name}_main_joint" type="fixed">
-      <xacro:insert_block name="origin" />
-      <parent link="${parent}"/>
-      <child link="${name}_main"/>
-    </joint>
-
-    <joint name="${name}_main_middle_level_joint" type="fixed">
-      <parent link="${name}_main"/>
-      <child link="${name}_main_middle_level"/>
-      <origin xyz="-0.01 0 0.01" rpy="0 0 0" />
-    </joint>
-
-    <joint name="${name}_door_joint" type="revolute">
-      <origin xyz="0.29 0.3 0" rpy="0 0 0" />
-      <parent link="${name}_main"/>
-      <child link="${name}_door"/>
-      <axis xyz="0 0 1"/>
-      <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
-<!--
-      <limit lower="0" upper="0" effort="300" velocity="10"/>
--->
-    </joint>
-
-
-
-    <joint name="${name}_ceiling_joint" type="fixed">
-        <origin xyz="0.0 0.0 0.44"/>
-        <parent link="${name}_main"/>
-        <child link="${name}_ceiling"/>
-    </joint>
-
-
-    <joint name="${name}_door_handle_joint" type="fixed">
-      <origin xyz="0.07 -0.57 0." rpy="0 0 0" />
-      <parent link="${name}_door"/>
-      <child link="${name}_door_handle"/>
-    </joint>
-
-    <link name="${name}_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="${name}_door_block_right_bar" >
-      <visual>
-        <geometry>
-          <box size="0.06 0.015 0.73"/>
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <box size="0.06 0.015 0.73"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name="${name}_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="${name}_door_block_top_bar" >
-      <visual>
-        <geometry>
-          <box size="0.045 0.46 0.01"/>
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <box size="0.045 0.46 0.01"/>
-        </geometry>
-      </collision>
-    </link>
-
-
-    <joint name="${name}_door_block_joint" type="fixed">
-      <origin xyz="-0.025 -0.27 -0.01" />
-      <parent link="${name}_door"/>
-      <child link="${name}_door_block"/>
-    </joint>
-
-    <joint name="${name}_door_block_right_bar_joint" type="fixed">
-      <origin xyz="-0.0425 -0.2225 0.01" />
-      <parent link="${name}_door_block"/>
-      <child link="${name}_door_block_right_bar"/>
-    </joint>
-
-    <joint name="${name}_door_block_left_bar_joint" type="fixed">
-      <origin xyz="-0.0425 0.2225 0.01" />
-      <parent link="${name}_door_block"/>
-      <child link="${name}_door_block_left_bar"/>
-    </joint>
-
-    <joint name="${name}_door_block_top_bar_joint" type="fixed">
-      <origin xyz="-0.03 0 0.37" />
-      <parent link="${name}_door_block"/>
-      <child link="${name}_door_block_top_bar"/>
-    </joint>
-
-
-    <xacro:fridge_door_shelf name="${name}_door_shelf1" parent="${name}_door_block" height="0.1">
-      <origin xyz="-0.07 0 -0.3525 "/>
-    </xacro:fridge_door_shelf>
-
-    <xacro:fridge_door_shelf name="${name}_door_shelf2" parent="${name}_door_block" height="0.065">
-      <origin xyz="-0.07 0 0.02"/>
-    </xacro:fridge_door_shelf>
-
-    <xacro:fridge_door_shelf name="${name}_door_shelf3" parent="${name}_door_block" height="0.065">
-      <origin xyz="-0.07 0 0.23"/>
-    </xacro:fridge_door_shelf>
-
-
-
-  </xacro:macro>
-
-  <xacro:macro name="fridge_door_shelf" params="name parent height *origin">
-
-    <joint name="${name}_to_door" type="fixed">
-      <xacro:insert_block name="origin"/>
-      <child link="${name}_bottom"/>
-      <parent link="${parent}"/>
-    </joint>
-
-    <link name="${name}_bottom" >
-      <visual>
-        <geometry>
-          <box size="0.1 0.35 0.01"/>
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <box size="0.1 0.35 0.01"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name="${name}_left_side" >
-      <visual>
-        <geometry>
-          <box size="0.115 0.06 ${height}"/>
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <box size="0.115 0.06 ${height}"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name="${name}_right_side" >
-      <visual>
-        <geometry>
-          <box size="0.115 0.06 ${height}"/>
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <box size="0.115 0.06 ${height}"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name="${name}_front_side" >
-      <visual>
-        <geometry>
-          <box size="0.02 0.35 ${height}"/>
-        </geometry>
-      </visual>
-      <collision>
-        <geometry>
-          <box size="0.01 0.35 ${height}"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name="${name}_left_to_bottom" type="fixed">
-      <origin xyz="-0.0025 -0.2 ${ height/2 - 0.005}"/>
-      <parent link="${name}_bottom"/>
-      <child link="${name}_left_side"/>
-    </joint>
-
-    <joint name="${name}_right_to_bottom" type="fixed">
-      <origin xyz="-0.0025 0.2 ${ height/2 - 0.005}"/>
-      <parent link="${name}_bottom"/>
-      <child link="${name}_right_side"/>
-    </joint>
-
-    <joint name="${name}_front_to_bottom" type="fixed">
-      <origin xyz="-0.05 0 ${ height/2 - 0.005}"/>
-      <parent link="${name}_bottom"/>
-      <child link="${name}_front_side"/>
-    </joint>
-
-
-  </xacro:macro>
-
-</robot>
diff --git a/iai_kitchen/urdf_obj/IAI_fridge_area.urdf.xacro b/iai_kitchen/urdf_obj/IAI_fridge_area.urdf.xacro
deleted file mode 100644
index 699ed2e..0000000
--- a/iai_kitchen/urdf_obj/IAI_fridge_area.urdf.xacro
+++ /dev/null
@@ -1,52 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="iai_fridge_area" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:property name="pi" value="3.1415926535897931" />
-
-  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_drawers.urdf.xacro"/>
-  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_fridge.urdf.xacro"/>
-
-  <xacro:macro name="iai_fridge_area" params="parent name *origin">
-    <link name="${name}_footprint">
-      <sphere_inertia radius="0" mass="0"/>
-    </link>
-
-    <link name="${name}">
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-    	  <origin xyz="0 0 0.01" rpy="0 0 0" />
-    	  <geometry>
-    	    <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.obj"/>
-    	  </geometry>
-    	</visual>
-      <collision>
-          <origin xyz="0 0 0.01" rpy="0 0 0" />
-          <geometry>
-  	    <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.obj"/>
-            <!--mesh filename="package://iai_kitchen/meshes/collision/kitchen_fridge.stl"/-->
-          </geometry>
-        </collision>
-    </link>
-
-    <joint name="${name}_footprint_joint" type="fixed">
-	<xacro:insert_block name="origin" />
-      <child link="${name}_footprint"/>
-      <parent link="${parent}"/>
-    </joint>
-
-    <joint name="${name}_main_joint" type="fixed">
-      <origin xyz="0.29 0.3 0.74" rpy="0 0 0" />
-      <parent link="${name}_footprint"/>
-      <child link="${name}"/>
-    </joint>
-  <xacro:iai_drawer_60_29 name="${name}_lower_drawer" parent="${name}">
-    <origin rpy="0 0 0" xyz="0.0 -0.0 -0.4175 "/>
-  </xacro:iai_drawer_60_29>
-
-  <xacro:iai_fridge name="iai_fridge" parent="${name}">
-    <origin xyz="0 0 0.25" rpy="0 0 0" />
-  </xacro:iai_fridge>
-  </xacro:macro>
-
-</robot>
diff --git a/iai_kitchen/urdf_obj/IAI_kitchen.urdf b/iai_kitchen/urdf_obj/IAI_kitchen.urdf
deleted file mode 100644
index 0e3df0d..0000000
--- a/iai_kitchen/urdf_obj/IAI_kitchen.urdf
+++ /dev/null
@@ -1,908 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from IAI_kitchen.urdf.xacro         | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="iai_oven_area" xmlns:xacro="http://ros.org/wiki/xacro">
-  <link name="room_link">    
-  </link>
-  <!--- FIXME THIS should NOT be here -->
-  <link name="sink_area_footprint">
-    <sphere_inertia mass="0" radius="0"/>
-  </link>
-  <link name="sink_area">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="sink_area_footprint_joint" type="fixed">
-    <origin rpy="0 0 3.14159265359" xyz="1.825 1.3 0"/>
-    <child link="sink_area_footprint"/>
-    <parent link="room_link"/>
-  </joint>
-  <joint name="sink_area_main_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.29 1.03 0.41"/>
-    <parent link="sink_area_footprint"/>
-    <child link="sink_area"/>
-  </joint>
-  <link name="sink_area_sink">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/Sink.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="sink_area_sink_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.005 0.47 0.4414"/>
-    <parent link="sink_area"/>
-    <child link="sink_area_sink"/>
-  </joint>
-  <link name="sink_area_right_panel">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="sink_area_right_panel_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.28 0.7 0.325 "/>
-    <parent link="sink_area"/>
-    <child link="sink_area_right_panel"/>
-  </joint>
-  <link name="sink_area_trash_drawer_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="sink_area_trash_drawer_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="sink_area_trash_drawer_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0.01 0.7 -0.035 "/>
-    <parent link="sink_area"/>
-    <child link="sink_area_trash_drawer_main"/>
-    <axis xyz="1. 0. 0.0"/>
-    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
-  </joint>
-  <joint name="sink_area_trash_drawer_handle_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.3325 0 0.2375"/>
-    <parent link="sink_area_trash_drawer_main"/>
-    <child link="sink_area_trash_drawer_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <link name="sink_area_left_upper_drawer_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_14.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="sink_area_left_upper_drawer_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="sink_area_left_upper_drawer_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0.01 -0.6 0.325 "/>
-    <parent link="sink_area"/>
-    <child link="sink_area_left_upper_drawer_main"/>
-    <axis xyz="1. 0. 0.0"/>
-    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
-  </joint>
-  <joint name="sink_area_left_upper_drawer_handle_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.3325 0 0.0175"/>
-    <parent link="sink_area_left_upper_drawer_main"/>
-    <child link="sink_area_left_upper_drawer_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <link name="sink_area_left_middle_drawer_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="sink_area_left_middle_drawer_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="sink_area_left_middle_drawer_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0.01 -0.6 0.11 "/>
-    <parent link="sink_area"/>
-    <child link="sink_area_left_middle_drawer_main"/>
-    <axis xyz="1. 0. 0.0"/>
-    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
-  </joint>
-  <joint name="sink_area_left_middle_drawer_handle_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
-    <parent link="sink_area_left_middle_drawer_main"/>
-    <child link="sink_area_left_middle_drawer_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <link name="sink_area_left_bottom_drawer_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="sink_area_left_bottom_drawer_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="sink_area_left_bottom_drawer_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0.01 -0.6 -0.18 "/>
-    <parent link="sink_area"/>
-    <child link="sink_area_left_bottom_drawer_main"/>
-    <axis xyz="1. 0. 0.0"/>
-    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
-  </joint>
-  <joint name="sink_area_left_bottom_drawer_handle_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
-    <parent link="sink_area_left_bottom_drawer_main"/>
-    <child link="sink_area_left_bottom_drawer_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <link name="sink_area_dish_washer_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="sink_area_dish_washer_door">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="sink_area_dish_washer_door_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="sink_area_dish_washer_main_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.01 0.1 0.035 "/>
-    <parent link="sink_area"/>
-    <child link="sink_area_dish_washer_main"/>
-  </joint>
-  <joint name="sink_area_dish_washer_door_joint" type="revolute">
-    <origin rpy="-1.57079632679 0 0" xyz="0.27 0. -0.325"/>
-    <parent link="sink_area_dish_washer_main"/>
-    <child link="sink_area_dish_washer_door"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <joint name="sink_area_dish_washer_door_handle_joint" type="fixed">
-    <origin rpy="-1.57079632679 0 0" xyz="0.0625 -0.6325 0."/>
-    <parent link="sink_area_dish_washer_door"/>
-    <child link="sink_area_dish_washer_door_handle"/>
-  </joint>
-  <link name="oven_area_area_footprint">
-    <sphere_inertia mass="0" radius="0"/>
-  </link>
-  <link name="oven_area_area">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="oven_area_footprint_joint" type="fixed">
-    <origin rpy="0 0 3.14159265359" xyz="1.805 2.5 0"/>
-    <child link="oven_area_area_footprint"/>
-    <parent link="room_link"/>
-  </joint>
-  <joint name="oven_area_main_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.29 0.6 0.755"/>
-    <parent link="oven_area_area_footprint"/>
-    <child link="oven_area_area"/>
-  </joint>
-  <link name="oven_area_oven_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="oven_area_oven_door">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/OvenDoor.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="oven_area_oven_door_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="oven_area_oven_panel">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/OvenPanel.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="oven_area_oven_main_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.0 0.0 0.415"/>
-    <parent link="oven_area_area"/>
-    <child link="oven_area_oven_main"/>
-  </joint>
-  <joint name="oven_area_oven_door_joint" type="revolute">
-    <origin rpy="-1.57079632679 0 0" xyz="0.2737 0. -0.2614"/>
-    <parent link="oven_area_oven_main"/>
-    <child link="oven_area_oven_door"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <joint name="oven_area_oven_door_handle_joint" type="fixed">
-    <origin rpy="-1.57079632679 0 0" xyz="0.05876 -0.39803 0."/>
-    <parent link="oven_area_oven_door"/>
-    <child link="oven_area_oven_door_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <joint name="oven_area_oven_panel_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.27 0 0.2449"/>
-    <parent link="oven_area_oven_main"/>
-    <child link="oven_area_oven_panel"/>
-  </joint>
-  <link name="oven_area_oven_knob_stove_1">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="oven_area_oven_knob_stove_1_joint" type="revolute">
-    <origin rpy="0 -1.57079632679 0" xyz="0 -0.21 0"/>
-    <parent link="oven_area_oven_panel"/>
-    <child link="oven_area_oven_knob_stove_1"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
-  </joint>
-  <link name="oven_area_oven_knob_stove_2">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="oven_area_oven_knob_stove_2_joint" type="revolute">
-    <origin rpy="0 -1.57079632679 0" xyz="0 -0.14 0"/>
-    <parent link="oven_area_oven_panel"/>
-    <child link="oven_area_oven_knob_stove_2"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
-  </joint>
-  <link name="oven_area_oven_knob_stove_3">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="oven_area_oven_knob_stove_3_joint" type="revolute">
-    <origin rpy="0 -1.57079632679 0" xyz="0 -0.07 0"/>
-    <parent link="oven_area_oven_panel"/>
-    <child link="oven_area_oven_knob_stove_3"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
-  </joint>
-  <link name="oven_area_oven_knob_stove_4">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="oven_area_oven_knob_stove_4_joint" type="revolute">
-    <origin rpy="0 -1.57079632679 0" xyz="0 -0.0 0"/>
-    <parent link="oven_area_oven_panel"/>
-    <child link="oven_area_oven_knob_stove_4"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
-  </joint>
-  <link name="oven_area_oven_knob_oven">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="oven_area_oven_knob_oven_joint" type="revolute">
-    <origin rpy="0 -1.57079632679 0" xyz="0 0.16 0"/>
-    <parent link="oven_area_oven_panel"/>
-    <child link="oven_area_oven_knob_oven"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="3.14159265359" velocity="10"/>
-  </joint>
-  <link name="oven_area_area_middle_upper_drawer_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_14.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="oven_area_area_middle_upper_drawer_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="oven_area_area_middle_upper_drawer_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0.0 -0. 0.045 "/>
-    <parent link="oven_area_area"/>
-    <child link="oven_area_area_middle_upper_drawer_main"/>
-    <axis xyz="1. 0. 0.0"/>
-    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
-  </joint>
-  <joint name="oven_area_area_middle_upper_drawer_handle_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.3325 0 0.0175"/>
-    <parent link="oven_area_area_middle_upper_drawer_main"/>
-    <child link="oven_area_area_middle_upper_drawer_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <link name="oven_area_area_middle_lower_drawer_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="oven_area_area_middle_lower_drawer_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="oven_area_area_middle_lower_drawer_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0.0 -0. -0.315 "/>
-    <parent link="oven_area_area"/>
-    <child link="oven_area_area_middle_lower_drawer_main"/>
-    <axis xyz="1. 0. 0.0"/>
-    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
-  </joint>
-  <joint name="oven_area_area_middle_lower_drawer_handle_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.3325 0 0.2375"/>
-    <parent link="oven_area_area_middle_lower_drawer_main"/>
-    <child link="oven_area_area_middle_lower_drawer_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <link name="oven_area_area_left_drawer_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="oven_area_area_left_drawer_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="oven_area_area_left_drawer_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0.0 -0.45 0.06 "/>
-    <parent link="oven_area_area"/>
-    <child link="oven_area_area_left_drawer_main"/>
-    <axis xyz="1. 0. 0.0"/>
-    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
-  </joint>
-  <joint name="oven_area_area_left_drawer_handle_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.3525 0 0"/>
-    <parent link="oven_area_area_left_drawer_main"/>
-    <child link="oven_area_area_left_drawer_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <link name="oven_area_area_right_drawer_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/VDrawer.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="oven_area_area_right_drawer_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="oven_area_area_right_drawer_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0.0 0.45 0.06 "/>
-    <parent link="oven_area_area"/>
-    <child link="oven_area_area_right_drawer_main"/>
-    <axis xyz="1. 0. 0.0"/>
-    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
-  </joint>
-  <joint name="oven_area_area_right_drawer_handle_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.3525 0 0"/>
-    <parent link="oven_area_area_right_drawer_main"/>
-    <child link="oven_area_area_right_drawer_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <link name="kitchen_island_footprint">
-    <sphere_inertia mass="0" radius="0"/>
-  </link>
-  <link name="kitchen_island">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/IslandArea.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="kitchen_island_footprint_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="-1.365 0.59 0"/>
-    <child link="kitchen_island_footprint"/>
-    <parent link="room_link"/>
-  </joint>
-  <joint name="kitchen_island_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.2975 1.1292 0.421"/>
-    <parent link="kitchen_island_footprint"/>
-    <child link="kitchen_island"/>
-  </joint>
-  <link name="kitchen_island_stove">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/Stove.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="kitchen_island_stove_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.025 0.7658 0.4315"/>
-    <parent link="kitchen_island"/>
-    <child link="kitchen_island_stove"/>
-  </joint>
-  <link name="kitchen_island_left_panel">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="kitchen_island_left_panel_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.2725 -0.8 0.329 "/>
-    <parent link="kitchen_island"/>
-    <child link="kitchen_island_left_panel"/>
-  </joint>
-  <link name="kitchen_island_left_upper_drawer_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="kitchen_island_left_upper_drawer_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="kitchen_island_left_upper_drawer_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0.0025 -0.8 0.114 "/>
-    <parent link="kitchen_island"/>
-    <child link="kitchen_island_left_upper_drawer_main"/>
-    <axis xyz="1. 0. 0.0"/>
-    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
-  </joint>
-  <joint name="kitchen_island_left_upper_drawer_handle_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
-    <parent link="kitchen_island_left_upper_drawer_main"/>
-    <child link="kitchen_island_left_upper_drawer_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <link name="kitchen_island_left_lower_drawer_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="kitchen_island_left_lower_drawer_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="kitchen_island_left_lower_drawer_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0.0025 -0.8 -0.176 "/>
-    <parent link="kitchen_island"/>
-    <child link="kitchen_island_left_lower_drawer_main"/>
-    <axis xyz="1. 0. 0.0"/>
-    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
-  </joint>
-  <joint name="kitchen_island_left_lower_drawer_handle_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
-    <parent link="kitchen_island_left_lower_drawer_main"/>
-    <child link="kitchen_island_left_lower_drawer_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <link name="kitchen_island_middle_panel">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_100.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="kitchen_island_middle_panel_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.2725 0 0.329 "/>
-    <parent link="kitchen_island"/>
-    <child link="kitchen_island_middle_panel"/>
-  </joint>
-  <link name="kitchen_island_middle_upper_drawer_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="kitchen_island_middle_upper_drawer_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="kitchen_island_middle_upper_drawer_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0.0025 0 0.114 "/>
-    <parent link="kitchen_island"/>
-    <child link="kitchen_island_middle_upper_drawer_main"/>
-    <axis xyz="1. 0. 0.0"/>
-    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
-  </joint>
-  <joint name="kitchen_island_middle_upper_drawer_handle_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
-    <parent link="kitchen_island_middle_upper_drawer_main"/>
-    <child link="kitchen_island_middle_upper_drawer_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <link name="kitchen_island_middle_lower_drawer_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="kitchen_island_middle_lower_drawer_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="kitchen_island_middle_lower_drawer_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0.0025 0 -0.176 "/>
-    <parent link="kitchen_island"/>
-    <child link="kitchen_island_middle_lower_drawer_main"/>
-    <axis xyz="1. 0. 0.0"/>
-    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
-  </joint>
-  <joint name="kitchen_island_middle_lower_drawer_handle_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
-    <parent link="kitchen_island_middle_lower_drawer_main"/>
-    <child link="kitchen_island_middle_lower_drawer_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <link name="kitchen_island_right_panel">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="kitchen_island_right_panel_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.2725 0.8 0.329 "/>
-    <parent link="kitchen_island"/>
-    <child link="kitchen_island_right_panel"/>
-  </joint>
-  <link name="kitchen_island_right_upper_drawer_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="kitchen_island_right_upper_drawer_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="kitchen_island_right_upper_drawer_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0.0025 0.8 0.114 "/>
-    <parent link="kitchen_island"/>
-    <child link="kitchen_island_right_upper_drawer_main"/>
-    <axis xyz="1. 0. 0.0"/>
-    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
-  </joint>
-  <joint name="kitchen_island_right_upper_drawer_handle_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
-    <parent link="kitchen_island_right_upper_drawer_main"/>
-    <child link="kitchen_island_right_upper_drawer_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <link name="kitchen_island_right_lower_drawer_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="kitchen_island_right_lower_drawer_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="kitchen_island_right_lower_drawer_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0.0025 0.8 -0.176 "/>
-    <parent link="kitchen_island"/>
-    <child link="kitchen_island_right_lower_drawer_main"/>
-    <axis xyz="1. 0. 0.0"/>
-    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
-  </joint>
-  <joint name="kitchen_island_right_lower_drawer_handle_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
-    <parent link="kitchen_island_right_lower_drawer_main"/>
-    <child link="kitchen_island_right_lower_drawer_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <link name="fridge_area_footprint">
-    <sphere_inertia mass="0" radius="0"/>
-  </link>
-  <link name="fridge_area">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="fridge_area_footprint_joint" type="fixed">
-    <origin rpy="0 0 3.14159265359" xyz="1.825 -0.76 0"/>
-    <child link="fridge_area_footprint"/>
-    <parent link="room_link"/>
-  </joint>
-  <joint name="fridge_area_main_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.29 0.3 0.74"/>
-    <parent link="fridge_area_footprint"/>
-    <child link="fridge_area"/>
-  </joint>
-  <link name="fridge_area_lower_drawer_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="fridge_area_lower_drawer_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="fridge_area_lower_drawer_main_joint" type="prismatic">
-    <origin rpy="0 0 0" xyz="0.0 -0.0 -0.4175 "/>
-    <parent link="fridge_area"/>
-    <child link="fridge_area_lower_drawer_main"/>
-    <axis xyz="1. 0. 0.0"/>
-    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
-  </joint>
-  <joint name="fridge_area_lower_drawer_handle_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.3325 0 0.11"/>
-    <parent link="fridge_area_lower_drawer_main"/>
-    <child link="fridge_area_lower_drawer_handle"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <link name="iai_fridge_main">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/Fridge.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="iai_fridge_door">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="iai_fridge_door_handle">
-    <sphere_inertia mass="0" radius="0"/>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.obj"/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name="iai_fridge_main_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="fridge_area"/>
-    <child link="iai_fridge_main"/>
-  </joint>
-  <joint name="iai_fridge_door_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="0.29 0.3 0.245"/>
-    <parent link="iai_fridge_main"/>
-    <child link="iai_fridge_door"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="0" upper="1.57079632679" velocity="10"/>
-  </joint>
-  <joint name="iai_fridge_door_handle_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0.06 -0.57 0."/>
-    <parent link="iai_fridge_door"/>
-    <child link="iai_fridge_door_handle"/>
-  </joint>
-  <!--
-  <iai_sink_area name="sink_area" parent="room_link">
-    <origin xyz="-5.29 -5.65 0" rpy="0 0 0" />    
-  </iai_sink_area>
-  
-  <iai_oven_area name="oven_area" parent="room_link">
-    <origin xyz="-5.27 -6.85 0" rpy="0 0 0" />    
-  </iai_oven_area>
-  
-  
-  <iai_kitchen_island name="kitchen_island" parent="room_link">
-    <origin xyz="-2.1 -4.94 0" rpy="0 0 ${pi}" />    
-  </iai_kitchen_island>
-  
-  <iai_fridge_area name="fridge_area" parent="room_link">
-    <origin xyz="-5.29 -3.59 0" rpy="0 0 0" />    
-  </iai_fridge_area>
-  -->
-</robot>
diff --git a/iai_kitchen/urdf_obj/IAI_kitchen_island.urdf.xacro b/iai_kitchen/urdf_obj/IAI_kitchen_island.urdf.xacro
deleted file mode 100644
index 7953d03..0000000
--- a/iai_kitchen/urdf_obj/IAI_kitchen_island.urdf.xacro
+++ /dev/null
@@ -1,116 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="iai_kitchen_island" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:property name="pi" value="3.1415926535897931" />
-
-  <!--- FIXME THIS should NOT be here -->
-  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_drawers.urdf.xacro"/>
-  
-  
-  <xacro:macro name="iai_kitchen_island" params="parent name *origin">
-     
-    <link name="${name}_footprint">    
-      <sphere_inertia radius="0" mass="0"/>
-    </link>
-    <link name="${name}">    
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/racks/IslandArea.obj"/>
-        </geometry>
-      </visual>  
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/racks/IslandArea.obj"/>
-        </geometry>
-      </collision>
-    </link>  
-    
-    <joint name="${name}_footprint_joint" type="fixed">
-        <xacro:insert_block name="origin" />
-      <child link="${name}_footprint"/>
-      <parent link="${parent}"/>
-    </joint>
-    
-    <joint name="${name}_joint" type="fixed">
-      <origin xyz="0.2975 1.1292 0.421" rpy="0 0 0" />
-      <parent link="${name}_footprint"/>
-      <child link="${name}"/>
-    </joint>
-    
-    <link name="${name}_surface">    
-      <sphere_inertia radius="0" mass="0"/>
-      <collision>
-          <origin xyz="0 0 0" rpy="0 0 0" />
-          <geometry>
-            <box size="0.8 2.45 0.02"/>
-          </geometry>
-        </collision>
-    </link>
-    
-    <joint name="${name}_surface_joint" type="fixed">
-      <origin xyz="0.0 0. 0.42" rpy="0 0 0" />
-      <parent link="${name}"/>
-      <child link="${name}_surface"/>
-    </joint>
-    
-    
-    <link name="${name}_stove">    
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-          <origin xyz="0 0 0" rpy="0 0 0" />
-          <geometry>
-            <mesh filename="package://iai_kitchen/meshes/misc/Stove.obj"/>
-          </geometry>
-        </visual>
-        <collision>
-          <origin xyz="0 0 0" rpy="0 0 0" />
-          <geometry>
-            <mesh filename="package://iai_kitchen/meshes/misc/Stove.obj"/>
-          </geometry>
-        </collision>
-    </link>
-    
-    
-    <joint name="${name}_stove_joint" type="fixed">
-      <origin xyz="0.0 0.7658 0.4315" rpy="0 0 0" />
-      <parent link="${name}"/>
-      <child link="${name}_stove"/>
-    </joint>
-    
-    <xacro:iai_generic_panel name="${name}_left_panel" parent="${name}" width="60">
-      <origin rpy="0 0 0" xyz="0.2725 -0.8 0.329 "/>
-    </xacro:iai_generic_panel>
-    <xacro:iai_drawer_60_29 name="${name}_left_upper_drawer" parent="${name}">
-      <origin rpy="0 0 0" xyz="0.0025 -0.8 0.114 "/>
-    </xacro:iai_drawer_60_29>
-    <xacro:iai_drawer_60_29 name="${name}_left_lower_drawer" parent="${name}">
-      <origin rpy="0 0 0" xyz="0.0025 -0.8 -0.176 "/>
-    </xacro:iai_drawer_60_29>
-    
-    
-    <xacro:iai_generic_panel name="${name}_middle_panel" parent="${name}" width="100">
-      <origin rpy="0 0 0" xyz="0.2725 0 0.329 "/>
-    </xacro:iai_generic_panel>
-    <xacro:iai_drawer_100_29 name="${name}_middle_upper_drawer" parent="${name}">
-      <origin rpy="0 0 0" xyz="0.0025 0 0.114 "/>
-    </xacro:iai_drawer_100_29>
-    <xacro:iai_drawer_100_29 name="${name}_middle_lower_drawer" parent="${name}">
-      <origin rpy="0 0 0" xyz="0.0025 0 -0.176 "/>
-    </xacro:iai_drawer_100_29>
-    
-    
-    <xacro:iai_generic_panel name="${name}_right_panel" parent="${name}" width="60">
-      <origin rpy="0 0 0" xyz="0.2725 0.8 0.329 "/>
-    </xacro:iai_generic_panel>
-    <xacro:iai_drawer_60_29 name="${name}_right_upper_drawer" parent="${name}">
-      <origin rpy="0 0 0" xyz="0.0025 0.8 0.114 "/>
-    </xacro:iai_drawer_60_29>
-    <xacro:iai_drawer_60_29 name="${name}_right_lower_drawer" parent="${name}">
-      <origin rpy="0 0 0" xyz="0.0025 0.8 -0.176 "/>
-    </xacro:iai_drawer_60_29>  
-  </xacro:macro>   
-</robot>
diff --git a/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro b/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro
deleted file mode 100644
index a544854..0000000
--- a/iai_kitchen/urdf_obj/IAI_kitchen_walls.urdf.xacro
+++ /dev/null
@@ -1,184 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="iai_kitchen_wall_robohow" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:macro name="iai_kitchen_wall_robohow" params="parent *origin">
-    <!-- LINKS -->
-    
-    <link name="kitchen_wall_1">
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 1.25" rpy="0 0 0" />
-        <geometry>
-            <box size="1.1376 0.15 2.5" />
-        </geometry>
-     </visual>
-      <collision>
-        <origin xyz="0 0 1.25" rpy="0 0 0" />
-        <geometry>
-            <box size="1.1376 0.15 2.5" />
-        </geometry>
-      </collision>
-    </link>
-      
-    <link name="kitchen_wall_2">
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 1.25" rpy="0 0 0" />
-        <geometry>
-            <box size="5.182 0.15 2.5" />
-        </geometry>
-     </visual>
-      <collision>
-        <origin xyz="0 0 1.25" rpy="0 0 0" />
-        <geometry>
-            <box size="5.182 0.15 2.5" />
-        </geometry>
-      </collision>
-    </link>
-      
-    <link name="kitchen_wall_3">
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 1.25" rpy="0 0 0" />
-        <geometry>
-            <box size="5.901 0.15 2.5" />
-        </geometry>
-     </visual>
-      <collision>
-        <origin xyz="0 0 1.25" rpy="0 0 0" />
-        <geometry>
-            <box size="5.901 0.15 2.5" />
-        </geometry>
-      </collision>
-    </link>
-      
-    <link name="kitchen_wall_4">
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0.35" rpy="0 0 0" />
-        <geometry>
-            <box size="4.25 0.15 0.7" />
-        </geometry>
-     </visual>
-      <collision>
-        <origin xyz="0 0 0.35" rpy="0 0 0" />
-        <geometry>
-            <box size="4.25 0.15 0.7" />
-        </geometry>
-      </collision>
-    </link>
-      
-    <link name="kitchen_wall_5">
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0.35" rpy="0 0 0" />
-        <geometry>
-            <box size="2.27328 0.15 0.7" />
-        </geometry>
-     </visual>
-      <collision>
-        <origin xyz="0 0 0.35" rpy="0 0 0" />
-        <geometry>
-            <box size="2.27328 0.15 0.7" />
-        </geometry>
-      </collision>
-    </link>
-    
-    
-    
-    <link name="kitchen_wall_6">
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0.35" rpy="0 0 0" />
-        <geometry>
-            <box size="1 0.15 0.7" />
-        </geometry>
-     </visual>
-      <collision>
-        <origin xyz="0 0 0.35" rpy="0 0 0" />
-        <geometry>
-            <box size="1 0.15 0.7" />
-        </geometry>
-      </collision>
-    </link>   
-
-    <link name="kitchen_wall_7">
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0.375" rpy="0 0 0" />
-        <geometry>
-            <box size="1.6 0.15 0.75" />
-        </geometry>
-     </visual>
-      <collision>
-        <origin xyz="0 0 0.375" rpy="0 0 0" />
-        <geometry>
-            <box size="1.6 0.15 0.75" />
-        </geometry>
-      </collision>
-    </link>
-    
-    <!-- JOINTS -->
-    
-    <link name="kitchen_walls"/>
-        
-    <joint name="walls_main_joint" type="fixed">
-        <xacro:insert_block name="origin" />
-      <parent link="${parent}"/>
-      <child link="kitchen_walls"/>
-    </joint>
-    
-    <joint name="wall_1_joint" type="fixed">
-        <origin xyz="2.38151 -2.516 0" rpy="0 -0 3.14159" />
-      <parent link="kitchen_walls"/>
-      <child link="kitchen_wall_1"/>
-    </joint>
-    <!--
-    <joint name="wall_1_joint" type="fixed">
-        <origin xyz="1 0.562175 0" rpy="0 0 0" />
-      <parent link="kitchen_walls"/>
-      <child link="kitchen_wall_1"/>
-    </joint>
-    -->
-    <joint name="wall_2_joint" type="fixed">
-        <origin xyz="2.87551 0 0" rpy="0 -0 1.5708" />
-      <parent link="kitchen_walls"/>
-      <child link="kitchen_wall_2"/>
-    </joint>
-    
-    <joint name="wall_3_joint" type="fixed">
-        <origin xyz="0 2.516 0" rpy="0 -0 3.14159" />
-      <parent link="kitchen_walls"/>
-      <child link="kitchen_wall_3"/>
-    </joint>
-    
-    <joint name="wall_4_joint" type="fixed">
-        <origin xyz="-2.87549 0.466 0" rpy="0 0 -1.5708" />
-      <parent link="kitchen_walls"/>
-      <child link="kitchen_wall_4"/>
-    </joint>
-    
-    <joint name="wall_5_joint" type="fixed">
-        <origin xyz="-1.81385 -1.70376 0" rpy="0 -0 0.000157" />
-      <parent link="kitchen_walls"/>
-      <child link="kitchen_wall_5"/>
-    </joint>
-    
-    <joint name="wall_6_joint" type="fixed">
-      <origin xyz="-0.65 -2.12851 0" rpy="0 0 -1.5708" />
-      <parent link="kitchen_walls"/>
-      <child link="kitchen_wall_6"/>
-    </joint>
-
-    <joint name="wall_7_joint" type="fixed">
-      <origin xyz="1.01271 -2.556 0" rpy="0 -0 3.14159" />
-      <parent link="kitchen_walls"/>
-      <child link="kitchen_wall_7"/>
-    </joint>
-
-    <gazebo reference="kitchen_wall_6">
-        <material>Gazebo/DarkGrey</material>
-    </gazebo>
-  </xacro:macro>
-</robot>
\ No newline at end of file
diff --git a/iai_kitchen/urdf_obj/IAI_oven.urdf.xacro b/iai_kitchen/urdf_obj/IAI_oven.urdf.xacro
deleted file mode 100644
index 468f152..0000000
--- a/iai_kitchen/urdf_obj/IAI_oven.urdf.xacro
+++ /dev/null
@@ -1,185 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="iai_oven" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:property name="pi" value="3.1415926535897931" />
-
-  <xacro:macro name="iai_oven" params="name parent *origin">
-    <!-- LINKS -->
-    
-    <link name="${name}_main">
-      
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    
-    <link name="${name}_door">
-      
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="${0.5*pi} 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/oven/OvenDoor.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="${0.5*pi} 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/oven/OvenDoor.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    
-    <link name="${name}_door_handle">
-      
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    
-    
-    <link name="${name}_panel">
-      
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/oven/OvenPanel.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/oven/OvenPanel.obj"/>
-        </geometry>
-      </collision>
-    </link>
-      
-    
-    <!-- JOINTS -->
-    
-    <joint name="${name}_main_joint" type="fixed">
-      <xacro:insert_block name="origin" />
-      <parent link="${parent}"/>
-      <child link="${name}_main"/>
-    </joint>
-    <xacro:if value="${simulated}">
-      <joint name="${name}_door_joint" type="revolute">
-        <origin xyz="0.2737 0. -0.2614" rpy="${-0.5*pi} 0 0" />
-        <parent link="${name}_main"/>
-        <child link="${name}_door"/>
-        <axis xyz="0 0 1"/>
-        <!--
-        <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
-        -->
-        <!-- FIXME make the closed position stable --> 
-        <limit lower="0" upper="${0.5*pi}" effort="0.03" velocity="10"/>
-        
-        <dynamics damping="100.1"/>
-      </joint>
-      <gazebo reference="${name}_door_joint">
-        <kp>1000000000</kp>
-        <kd>1000000000</kd>
-      </gazebo>
-    </xacro:if>
-    <xacro:unless value="${simulated}">
-      <joint name="${name}_door_joint" type="revolute">
-        <origin xyz="0.2737 0. -0.2614" rpy="${-0.5*pi} 0 0" />
-        <parent link="${name}_main"/>
-        <child link="${name}_door"/>
-        <axis xyz="0 0 1"/>
-        
-        <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
-        
-<!--
-        <limit lower="0" upper="0" effort="0.03" velocity="10"/>
-   -->     
-      </joint>
-      
-    </xacro:unless>
-    <joint name="${name}_door_handle_joint" type="fixed">
-      <origin xyz="0.05876 -0.39803 0." rpy="${-0.5*pi} 0 0" />
-      <parent link="${name}_door"/>
-      <child link="${name}_door_handle"/>
-      <axis xyz="0 0 1"/>
-      <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
-    </joint>
-    
-    <joint name="${name}_panel_joint" type="fixed">
-      <origin xyz="0.27 0 0.2449" rpy="0 0 0" />
-      <parent link="${name}_main"/>
-      <child link="${name}_panel"/>
-    </joint>
-    
-    
-    <!--KNOBS -->
-    
-    <xacro:iai_oven_knob name="${name}_knob_stove_2" parent="${name}_panel" xyz="0 -0.14 0"/>
-    <xacro:iai_oven_knob name="${name}_knob_stove_1" parent="${name}_panel" xyz="0 -0.21 0"/>
-    <xacro:iai_oven_knob name="${name}_knob_stove_3" parent="${name}_panel" xyz="0 -0.07 0"/>
-    <xacro:iai_oven_knob name="${name}_knob_stove_4" parent="${name}_panel" xyz="0 -0.0 0"/>
-    <xacro:iai_oven_knob name="${name}_knob_oven" parent="${name}_panel" xyz="0 0.16 0"/>
-    
-  </xacro:macro>
-
-  
-  
-  <xacro:macro name="iai_oven_knob" params="name parent xyz">
-    <link name="${name}">
-      
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 ${0.5 * pi} 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 ${0.5 * pi} 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    
-    <joint name="${name}_joint" type="revolute">
-      <origin xyz="${xyz}" rpy="0 ${-0.5 * pi} 0" />
-      <parent link="${parent}"/>
-      <child link="${name}"/>
-      <axis xyz="0 0 1"/>
-      <limit lower="0" upper="${pi}" effort="300" velocity="10"/>
-    </joint>
-    
-  </xacro:macro>
-  
-
-  <!--- 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"/>
-  -->
-</robot>
diff --git a/iai_kitchen/urdf_obj/IAI_oven_area.urdf.xacro b/iai_kitchen/urdf_obj/IAI_oven_area.urdf.xacro
deleted file mode 100644
index 2083b3f..0000000
--- a/iai_kitchen/urdf_obj/IAI_oven_area.urdf.xacro
+++ /dev/null
@@ -1,69 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="iai_oven_area" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:property name="pi" value="3.1415926535897931" />
-  
-  <!--- FIXME THIS should NOT be here -->
-  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_drawers.urdf.xacro"/>
-  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_oven.urdf.xacro"/>
-  
-  <xacro:macro name="iai_oven_area" params="parent name *origin">
-  <link name="${name}_area_footprint">    
-    <sphere_inertia radius="0" mass="0"/>
-  </link>
-  
-  <link name="${name}_area">    
-    <sphere_inertia radius="0" mass="0"/>
-    <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.obj"/>
-        </geometry>
-      </visual>
-    <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.obj"/>
-        </geometry>
-      </collision>
-  </link>
-  
-  <joint name="${name}_footprint_joint" type="fixed">
-      <xacro:insert_block name="origin" />
-    <child link="${name}_area_footprint"/>
-    <parent link="${parent}"/>
-  </joint>
-  
-  <joint name="${name}_main_joint" type="fixed">
-    <origin xyz="0.29 0.6 0.755" rpy="0 0 0" />
-    <parent link="${name}_area_footprint"/>
-    <child link="${name}_area"/>
-  </joint>
-  
-  <xacro:iai_oven name="${name}_oven" parent="${name}_area">
-    <origin rpy="0 0 0" xyz="0.0 0.0 0.415"/>
-  </xacro:iai_oven>
-  
-  <xacro:iai_drawer_60_14 name="${name}_area_middle_upper_drawer" parent="${name}_area">
-    <origin rpy="0 0 0" xyz="0.0 -0. 0.045 "/>
-  </xacro:iai_drawer_60_14>
-  
-  
-  <xacro:iai_drawer_60_58 name="${name}_area_middle_lower_drawer" parent="${name}_area">
-    <origin rpy="0 0 0" xyz="0.0 -0. -0.315 "/>
-  </xacro:iai_drawer_60_58>
-  
-  
-  <xacro:iai_vdrawer name="${name}_area_left_drawer" parent="${name}_area">
-    <origin rpy="0 0 0" xyz="0.29 -0.45 0.07 "/>
-  </xacro:iai_vdrawer>
-  
-  <xacro:iai_vdrawer name="${name}_area_right_drawer" parent="${name}_area">
-    <origin rpy="0 0 0" xyz="0.29 0.45 0.07"/>
-  </xacro:iai_vdrawer>
-  
-  
-  </xacro:macro> 
-  
-</robot>
diff --git a/iai_kitchen/urdf_obj/IAI_sink_area.urdf.xacro b/iai_kitchen/urdf_obj/IAI_sink_area.urdf.xacro
deleted file mode 100644
index 1e841ba..0000000
--- a/iai_kitchen/urdf_obj/IAI_sink_area.urdf.xacro
+++ /dev/null
@@ -1,106 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="iai_sink_area" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:property name="pi" value="3.1415926535897931" />
-  
-  <!--- FIXME THIS should NOT be here -->
-  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_drawers.urdf.xacro"/>
-  <xacro:include filename="$(find iai_kitchen)/urdf_obj/IAI_dish_washer.urdf.xacro"/>
-  
-  <xacro:macro name="iai_sink_area" params="parent name *origin">
-  <link name="${name}_footprint">    
-    <sphere_inertia radius="0" mass="0"/>
-  </link>
-  
-  <link name="${name}">    
-    <sphere_inertia radius="0" mass="0"/>
-    <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.obj"/>
-        </geometry>
-      </visual>
-    <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.obj"/>
-        </geometry>
-      </collision>
-  </link>
-  
-  <joint name="${name}_footprint_joint" type="fixed">
-      <xacro:insert_block name="origin" />
-    <child link="${name}_footprint"/>
-    <parent link="${parent}"/>
-  </joint>
-  
-  <joint name="${name}_main_joint" type="fixed">
-    <origin xyz="0.29 1.03 0.41" rpy="0 0 0" />
-    <parent link="${name}_footprint"/>
-    <child link="${name}"/>
-  </joint>
-  
-  
-  <link name="${name}_surface">
-    <sphere_inertia radius="0" mass="0"/>
-    <collision>
-      <origin xyz="0 -0.225 0" rpy="0 0 0" />
-      <geometry>
-        <box size="0.575 1.6 0.02"/>
-      </geometry>
-    </collision>
-  </link>
-
- <joint name="${name}_surface_joint" type="fixed">
-    <origin xyz="0.0 0. 0.43" rpy="0 0 0" />
-    <parent link="${name}"/>
-    <child link="${name}_surface"/>
- </joint>
-
-
-  
-  
-  <link name="${name}_sink">    
-    <sphere_inertia radius="0" mass="0"/>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/Sink.obj"/>
-      </geometry>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/misc/Sink.obj"/>
-      </geometry>
-    </collision>
-  </link>
-  
-  <joint name="${name}_sink_joint" type="fixed">
-    <origin xyz="0.005 0.47 0.4414" rpy="0 0 0" />
-    <parent link="${name}"/>
-    <child link="${name}_sink"/>
-  </joint>
-  
-  <xacro:iai_generic_panel name="${name}_right_panel" parent="${name}" width="60">
-    <origin rpy="0 0 0" xyz="0.28 0.7 0.355 "/>
-  </xacro:iai_generic_panel>
-  <xacro:iai_drawer_60_58 name="${name}_trash_drawer" parent="${name}">
-    <origin rpy="0 0 0" xyz="0.01 0.7 -0.015 "/>
-  </xacro:iai_drawer_60_58>
-  <xacro:iai_drawer_80_14 name="${name}_left_upper_drawer" parent="${name}">
-    <origin rpy="0 0 0" xyz="0.01 -0.6 0.345 "/>
-  </xacro:iai_drawer_80_14>
-  <xacro:iai_drawer_80_29 name="${name}_left_middle_drawer" parent="${name}">
-    <origin rpy="0 0 0" xyz="0.01 -0.6 0.12 "/>
-  </xacro:iai_drawer_80_29>
-  <xacro:iai_drawer_80_29 name="${name}_left_bottom_drawer" parent="${name}">
-    <origin rpy="0 0 0" xyz="0.01 -0.6 -0.18" />
-  </xacro:iai_drawer_80_29>
-  <xacro:iai_dish_washer name="${name}_dish_washer" parent="${name}">
-    <origin rpy="0 0 0" xyz="0.01 0.1 0.06" />
-  </xacro:iai_dish_washer>
-  </xacro:macro> 
-  
-</robot>
diff --git a/iai_kitchen/urdf_obj/IAI_tables.urdf.xacro b/iai_kitchen/urdf_obj/IAI_tables.urdf.xacro
deleted file mode 100644
index 6564f27..0000000
--- a/iai_kitchen/urdf_obj/IAI_tables.urdf.xacro
+++ /dev/null
@@ -1,93 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="iai_table" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="iai_table_1" params="name parent *origin">
-    <link name="${name}_main">
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0.3619" rpy="0 0 0"/>
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.stl"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0.3619" rpy="0 0 0"/>
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    <joint name="${name}_main_joint" type="fixed">
-      <xacro:insert_block name="origin"/>
-      <parent link="${parent}"/>
-      <child link="${name}_main"/>
-    </joint>
-  </xacro:macro>
-
-  <xacro:macro name="jokkmokk_table" params="name parent *origin">
-    <link name="${name}_main">
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkTable.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkTable.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    <joint name="${name}_main_joint" type="fixed">
-      <xacro:insert_block name="origin"/>
-      <parent link="${parent}"/>
-      <child link="${name}_main"/>
-      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
-    </joint>
-  </xacro:macro>
-
-  <xacro:macro name="jokkmokk_chair" params="name parent *origin">
-    <link name="${name}_main">
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    <joint name="${name}_main_joint" type="fixed">
-      <xacro:insert_block name="origin"/>
-      <parent link="${parent}"/>
-      <child link="${name}_main"/>
-    </joint>
-  </xacro:macro>
-
-  <xacro:macro name="iai_dining_area" params="parent name *origin">
-    <link name="${name}_footprint">
-      <sphere_inertia radius="0" mass="0"/>
-    </link>
-    <joint name="${name}_footprint_joint" type="fixed">
-      <xacro:insert_block name="origin" />
-      <child link="${name}_footprint"/>
-      <parent link="${parent}"/>
-    </joint>
-    <xacro:jokkmokk_table name="${name}_jokkmokk_table" parent="${name}_footprint">
-      <origin xyz="0 0 0.35" rpy="0 0 0" />
-    </xacro:jokkmokk_table>
-    <xacro:jokkmokk_chair name="${name}_jokkmokk_left_chair" parent="${name}_footprint">
-      <origin xyz="-1 0 0.5535" rpy="0 0 0" />
-    </xacro:jokkmokk_chair>
-    <xacro:jokkmokk_chair name="${name}_jokkmokk_right_chair" parent="${name}_footprint">
-      <origin xyz="1 0 0.5535" rpy="0 0 ${-pi}" />
-    </xacro:jokkmokk_chair>
-  </xacro:macro>
-</robot>
diff --git a/iai_kitchen/urdf_obj/green_bowl.urdf b/iai_kitchen/urdf_obj/green_bowl.urdf
deleted file mode 100644
index 763a775..0000000
--- a/iai_kitchen/urdf_obj/green_bowl.urdf
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="green_bowl">
-  <link name="green_bowl_frame">
-    <visual>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/BoxyToolholder/green_bowl.obj"/>
-      </geometry>
-    </visual>
-  </link>
-</robot>
diff --git a/iai_kitchen/urdf_obj/red_bowl.urdf b/iai_kitchen/urdf_obj/red_bowl.urdf
deleted file mode 100644
index 7c5d3d6..0000000
--- a/iai_kitchen/urdf_obj/red_bowl.urdf
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="red_bowl">
-  <link name="red_bowl_frame">
-    <visual>
-      <origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/BoxyToolholder/red_bowl.obj"/>
-      </geometry>
-    </visual>
-  </link>
-</robot>
diff --git a/iai_kitchen/urdf_obj/sink_area.urdf.xacro b/iai_kitchen/urdf_obj/sink_area.urdf.xacro
deleted file mode 100644
index f9886a1..0000000
--- a/iai_kitchen/urdf_obj/sink_area.urdf.xacro
+++ /dev/null
@@ -1,390 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="iai_kitchen_sink_area" xmlns:xacro="http://ros.org/wiki/xacro">
-<!--
-  <xacro:include filename="$(find iai_kitchen)/urdf/drawers.xacro" />
--->
-
-  <xacro:property name="pi" value="3.1415926535897931" />
-
-
-
-    <link name="sink_area_footprint">
-      
-      <sphere_inertia radius="0" mass="0"/>
-      <!-- ???vizualize footprint??? -->
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <box size=".1 .1 .1" />
-        </geometry>
-      </visual>
-    </link>
-    
-    <link name="sink_area_main">
-      
-      <sphere_inertia radius="0" mass="0"/>
-      <!-- ???vizualize footprint??? -->
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkArea.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkArea.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    
-    
-    <joint name="sink_area_joint" type="fixed">
-      <origin xyz="0 0 0.41" rpy="0 0 0" />
-      <parent link="sink_area_footprint"/>
-      <child link="sink_area_main"/>
-    </joint>
-    
-    
-    
-    
-    <!-- LEFT BLOCK -->
-    <link name="sink_area_drawer_left_bottom">
-      
-      <sphere_inertia radius="0" mass="0"/>
-      <!-- ???vizualize footprint??? -->
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaMedDrawer.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaMedDrawer.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    
-    
-    <joint name="sink_area_drawer_left_bottom_joint" type="prismatic">
-      <origin xyz="0.01 -0.6 -0.18" rpy="0 0 0" />
-      <parent link="sink_area_main"/>
-      <child link="sink_area_drawer_left_bottom"/>
-      <axis xyz="1 0 0"/>
-      <limit lower="0" upper="0.48" effort="300" velocity="10"/>
-    </joint>
-    
-    
-    <link name="sink_area_drawer_left_bottom_handle">
-      
-      <sphere_inertia radius="0" mass="0"/>
-      <!-- ???vizualize footprint??? -->
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaBigHandle.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaBigHandle.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    
-    
-    <joint name="sink_area_drawer_left_bottom_handle_joint" type="fixed">
-      <origin xyz="0.3325 0 0.0925" rpy="0 0 0" />
-      <parent link="sink_area_drawer_left_bottom"/>
-      <child link="sink_area_drawer_left_bottom_handle"/>
-    </joint>
-    
-    
-    
-    
-    <link name="sink_area_drawer_left_center">
-      
-      <sphere_inertia radius="0" mass="0"/>
-      <!-- ???vizualize footprint??? -->
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaMedDrawer.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaMedDrawer.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    
-    
-    <joint name="sink_area_drawer_left_center_joint" type="prismatic">
-      <origin xyz="0.01 -0.6 0.11" rpy="0 0 0" />
-      <parent link="sink_area_main"/>
-      <child link="sink_area_drawer_left_center"/>
-      <axis xyz="1 0 0"/>
-      <limit lower="0" upper="0.48" effort="300" velocity="10"/>
-    </joint>
-    
-    
-    <link name="sink_area_drawer_left_center_handle">
-      
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaBigHandle.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaBigHandle.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    
-    
-    <joint name="sink_area_drawer_left_center_handle_joint" type="fixed">
-      <origin xyz="0.3325 0 0.0925" rpy="0 0 0" />
-      <parent link="sink_area_drawer_left_center"/>
-      <child link="sink_area_drawer_left_center_handle"/>
-    </joint>
-    
-    
-    <link name="sink_area_drawer_left_top">
-      
-      <sphere_inertia radius="0" mass="0"/>
-      <!-- ???vizualize footprint??? -->
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaSmallDrawer.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaSmallDrawer.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    
-    <joint name="sink_area_drawer_left_top_joint" type="prismatic">
-      <origin xyz="0.01 -0.6 0.325" rpy="0 0 0" />
-      <parent link="sink_area_main"/>
-      <child link="sink_area_drawer_left_top"/>
-      <axis xyz="1 0 0"/>
-      <limit lower="0" upper="0.48" effort="300" velocity="10"/>
-    </joint>
-    
-    
-    <link name="sink_area_drawer_left_top_handle">
-      
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaBigHandle.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaBigHandle.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    
-    
-    <joint name="sink_area_drawer_left_bottom_top_joint" type="fixed">
-      <origin xyz="0.3325 0 0.0175" rpy="0 0 0" />
-      <parent link="sink_area_drawer_left_top"/>
-      <child link="sink_area_drawer_left_top_handle"/>
-    </joint>
-    
-    <!-- DISHWASHER BLOCK -->
-    
-    
-    
-    
-    <link name="sink_area_inner_dishwasher">
-      
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaInnerDishWasher.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaInnerDishWasher.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    
-    <joint name="sink_area_dishwasher_joint" type="fixed">
-      <origin xyz="0.01 0.1 0.035" rpy="0 0 0" />
-      <parent link="sink_area_main"/>
-      <child link="sink_area_inner_dishwasher"/>
-    </joint>
-    
-    <link name="sink_area_dishwasher_door">
-      
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaDishWasherDoor.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaDishWasherDoor.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    
-    <joint name="sink_area_dishwasher_door_joint" type="revolute">
-      <origin xyz="0.27 0 -0.325" rpy="0 0 0" />
-      <parent link="sink_area_inner_dishwasher"/>
-      <child link="sink_area_dishwasher_door"/>
-      <axis xyz="0 1 0"/>
-      <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
-    </joint>
-    
-    <link name="sink_area_dishwasher_handle">
-      
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaSmallHandle.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaSmallHandle.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    
-    
-    <joint name="sink_area_dishwasher_handle_joint" type="fixed">
-      <origin xyz="0.0625 0 0.6325" rpy="0 0 0" />
-      <parent link="sink_area_dishwasher_door"/>
-      <child link="sink_area_dishwasher_handle"/>
-    </joint>
-    
-    
-    <!-- TRASH AREA -->
-    
-    
-    <link name="sink_area_panel">
-      
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaPanel.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaPanel.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    
-    
-    <joint name="sink_area_pane_joint" type="fixed">
-      <origin xyz="0.28 0.7 0.325" rpy="0 0 0" />
-      <parent link="sink_area_main"/>
-      <child link="sink_area_panel"/>
-    </joint>
-    
-    <link name="sink_area_trash">
-      
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaTrash.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaTrash.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    
-    <joint name="sink_area_trash_joint" type="prismatic">
-      <origin xyz="0.01 0.7 -0.0325" rpy="0 0 0" />
-      <parent link="sink_area_main"/>
-      <child link="sink_area_trash"/>
-      <axis xyz="1 0 0"/>
-      <limit lower="0" upper="0.48" effort="300" velocity="10"/>
-    </joint>   
-    
-    
-    <link name="sink_area_trash_handle">      
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaSmallHandle.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaSmallHandle.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    
-    <joint name="sink_area_trash_handle_joint" type="fixed">
-      <origin xyz="0.3325 0.0 0.2375" rpy="0 0 0" />
-      <parent link="sink_area_trash"/>
-      <child link="sink_area_trash_handle"/>
-    </joint>
-    
-    
-    <link name="sink_area_sink">      
-      <sphere_inertia radius="0" mass="0"/>
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaSink.obj"/>
-        </geometry>
-      </visual>
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <geometry>
-          <mesh filename="package://iai_kitchen/meshes/SinkAreaSink.obj"/>
-        </geometry>
-      </collision>
-    </link>
-    
-    <joint name="sink_area_sink_joint" type="fixed">
-      <origin xyz="0.005 0.47 0.4414" rpy="0 0 0" />
-      <parent link="sink_area_main"/>
-      <child link="sink_area_sink"/>
-    </joint>
-    
-    
-</robot>
\ No newline at end of file
diff --git a/iai_kitchen/urdf_obj/spoon_flatten.urdf b/iai_kitchen/urdf_obj/spoon_flatten.urdf
deleted file mode 100644
index 0cfbb92..0000000
--- a/iai_kitchen/urdf_obj/spoon_flatten.urdf
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="spoon_flatten">
-  <link name="spoon_flatten_frame">
-    <visual>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/BoxyToolholder/holder_spoon_flat.stl"/>
-      </geometry>
-    </visual>
-  </link>
-</robot>
diff --git a/iai_kitchen/urdf_obj/spoon_flatten_projected.urdf b/iai_kitchen/urdf_obj/spoon_flatten_projected.urdf
deleted file mode 100644
index c34dfb4..0000000
--- a/iai_kitchen/urdf_obj/spoon_flatten_projected.urdf
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="spoon_flatten_projected">
-  <link name="spoon_flatten_frame_projected">
-    <visual>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/BoxyToolholder/holder_spoon_flat.stl"/>
-      </geometry>
-      <material name="blue">
-         <color rgba="0.0 0.0 1.0 1.0"/>
-      </material>
-    </visual>
-  </link>
-</robot>
diff --git a/iai_kitchen/urdf_obj/spoon_rounded.urdf b/iai_kitchen/urdf_obj/spoon_rounded.urdf
deleted file mode 100644
index 7c69240..0000000
--- a/iai_kitchen/urdf_obj/spoon_rounded.urdf
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="spoon_rounded">
-  <link name="spoon_rounded_frame">
-    <visual>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/BoxyToolholder/Holder_Spoon.stl"/>
-      </geometry>
-    </visual>
-  </link>
-</robot>
diff --git a/iai_kitchen/urdf_obj/spoon_rounded_projected.urdf b/iai_kitchen/urdf_obj/spoon_rounded_projected.urdf
deleted file mode 100644
index d6186d7..0000000
--- a/iai_kitchen/urdf_obj/spoon_rounded_projected.urdf
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="spoon_rounded_projected">
-  <link name="spoon_rounded_frame_projected">
-    <visual>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/BoxyToolholder/Holder_Spoon.stl"/>
-      </geometry>
-      <material name="blue">
-         <color rgba="0.0 0.0 1.0 1.0"/>
-      </material>
-    </visual>
-  </link>
-</robot>
diff --git a/iai_kitchen/urdf_obj/tool_holder.urdf b/iai_kitchen/urdf_obj/tool_holder.urdf
deleted file mode 100644
index 376f43b..0000000
--- a/iai_kitchen/urdf_obj/tool_holder.urdf
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="tool_holder">
-  <link name="tool_holder_frame">
-    <visual>
-      <origin xyz="0.0 0.0 0.15" rpy="0.0 0.0 0.0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/BoxyToolholder/Rack_assy.stl"/>
-      </geometry>
-    </visual>
-  </link>
-</robot>
diff --git a/iai_kitchen/urdf_obj/tray.urdf b/iai_kitchen/urdf_obj/tray.urdf
deleted file mode 100644
index 3b9f675..0000000
--- a/iai_kitchen/urdf_obj/tray.urdf
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="tray">
-  <link name="tray_frame">
-    <visual>
-      <origin rpy="0 0 1.57" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/BoxyToolholder/tray.obj"/>
-      </geometry>
-    </visual>
-  </link>
-</robot>
diff --git a/iai_kitchen/urdf_obj/yellow_bowl.urdf b/iai_kitchen/urdf_obj/yellow_bowl.urdf
deleted file mode 100644
index d836ad2..0000000
--- a/iai_kitchen/urdf_obj/yellow_bowl.urdf
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="yellow_bowl">
-  <link name="yellow_bowl_frame">
-    <visual>
-      <origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0"/>
-      <geometry>
-        <mesh filename="package://iai_kitchen/meshes/racks/BoxyToolholder/yellow_bowl.obj"/>
-      </geometry>
-    </visual>
-  </link>
-</robot>
diff --git a/iai_kitchen_defs/Media/models/cash_register.urdf.xml b/iai_kitchen_defs/Media/models/cash_register.urdf.xml
index 8f162db..1ef0dbf 100644
--- a/iai_kitchen_defs/Media/models/cash_register.urdf.xml
+++ b/iai_kitchen_defs/Media/models/cash_register.urdf.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<robot name="cash_register">
+<robot name="cash_register" xmlns:xacro="http://www.ros.org/wiki/xacro">
   
-  <macro name="cash_register" params="name parent xyz rpy">
+  <xacro:macro name="cash_register" params="name parent xyz rpy">
     
     <link name="${parent}_${name}_register_link">    
       <visual>
@@ -30,6 +30,6 @@
       <child link="${parent}_${name}_register_link"/>
     </joint>
     
-  </macro>
+  </xacro:macro>
   
 </robot>
diff --git a/iai_kitchen_defs/Media/models/chair.urdf.xml b/iai_kitchen_defs/Media/models/chair.urdf.xml
index dc9e74e..8ecf527 100644
--- a/iai_kitchen_defs/Media/models/chair.urdf.xml
+++ b/iai_kitchen_defs/Media/models/chair.urdf.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<robot name="chair">
+<robot name="chair" xmlns:xacro="http://www.ros.org/wiki/xacro">
   
-  <macro name="chair" params="name parent xyz rpy">
+  <xacro:macro name="chair" params="name parent xyz rpy">
     
     <link name="${parent}_${name}_chair_link">    
       <visual>
@@ -30,6 +30,6 @@
       <child link="${parent}_${name}_chair_link"/>
     </joint>
     
-  </macro>
+  </xacro:macro>
   
 </robot>
diff --git a/iai_kitchen_defs/Media/models/cnc.urdf.xml b/iai_kitchen_defs/Media/models/cnc.urdf.xml
index 8d61fad..537a411 100644
--- a/iai_kitchen_defs/Media/models/cnc.urdf.xml
+++ b/iai_kitchen_defs/Media/models/cnc.urdf.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
-<robot name="cnc">
+<robot name="cnc" xmlns:xacro="http://www.ros.org/wiki/xacro">
   
   <include filename="$(find iai_maps)/defs/util_defs.xml"/>  
   
-  <macro name="cnc" params="name parent xyz rpy">
+  <xacro:macro name="cnc" params="name parent xyz rpy">
     
     <link name="${parent}_${name}_cnc_link">    
       <visual>
@@ -20,7 +20,7 @@
         <origin rpy="0 0 0" xyz="0 0 0" />
       </collision>
       
-      <sphere_inertia radius="2" mass="1000"/>
+      <xacro:sphere_inertia radius="2" mass="1000"/>
 
     </link>
     
@@ -30,6 +30,6 @@
       <child link="${parent}_${name}_cnc_link"/>
     </joint>
     
-  </macro>
+  </xacro:macro>
   
 </robot>
diff --git a/iai_kitchen_defs/Media/models/glasses.urdf.xml b/iai_kitchen_defs/Media/models/glasses.urdf.xml
index 6f046ab..ab2e0ba 100644
--- a/iai_kitchen_defs/Media/models/glasses.urdf.xml
+++ b/iai_kitchen_defs/Media/models/glasses.urdf.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<robot name="glasses">
+<robot name="glasses" xmlns:xacro="http://www.ros.org/wiki/xacro">
   
-  <macro name="glasses" params="name parent xyz rpy">
+  <xacro:macro name="glasses" params="name parent xyz rpy">
     
     <link name="${parent}_${name}_glasses_link">    
       <visual>
@@ -30,6 +30,6 @@
       <child link="${parent}_${name}_glasses_link"/>
     </joint>
     
-  </macro>
+  </xacro:macro>
   
 </robot>
diff --git a/iai_kitchen_defs/Media/models/test_glasses.urdf.xml b/iai_kitchen_defs/Media/models/test_glasses.urdf.xml
index 72c6356..0747609 100644
--- a/iai_kitchen_defs/Media/models/test_glasses.urdf.xml
+++ b/iai_kitchen_defs/Media/models/test_glasses.urdf.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<robot name="test_glasses">
+<robot name="test_glasses" xmlns:xacro="http://www.ros.org/wiki/xacro">
   
-  <macro name="test_glasses" params="name parent xyz rpy">
+  <xacro:macro name="test_glasses" params="name parent xyz rpy">
     
     <link name="${parent}_${name}_test_glasses_link">    
       <visual>
@@ -30,6 +30,6 @@
       <child link="${parent}_${name}_test_glasses_link"/>
     </joint>
     
-  </macro>
+  </xacro:macro>
   
 </robot>
diff --git a/iai_kitchen_defs/Media/models/wine_cooler.urdf.xml b/iai_kitchen_defs/Media/models/wine_cooler.urdf.xml
index 6902142..74e728e 100644
--- a/iai_kitchen_defs/Media/models/wine_cooler.urdf.xml
+++ b/iai_kitchen_defs/Media/models/wine_cooler.urdf.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<robot name="wine_cooler">
+<robot name="wine_cooler" xmlns:xacro="http://www.ros.org/wiki/xacro">
   
-  <macro name="wine_cooler" params="name parent xyz rpy">
+  <xacro:macro name="wine_cooler" params="name parent xyz rpy">
     
     <link name="${parent}_${name}_wine_cooler_link">    
       <visual>
@@ -31,6 +31,6 @@
       <child link="${parent}_${name}_wine_cooler_link"/>
     </joint>
     
-  </macro>
+  </xacro:macro>
   
 </robot>
diff --git a/iai_kitchen_defs/defs/ias_kitchen/cuboid.xml b/iai_kitchen_defs/defs/ias_kitchen/cuboid.xml
index dc55ca3..c94d768 100644
--- a/iai_kitchen_defs/defs/ias_kitchen/cuboid.xml
+++ b/iai_kitchen_defs/defs/ias_kitchen/cuboid.xml
@@ -8,9 +8,9 @@
   <!-- Cuboid -->
   <!--        -->
 
-  <macro name="cuboid" params="block_pos block_rpy">
+  <xacro:macro name="cuboid" params="block_pos block_rpy">
 
-    <counter parent="cuboid"
+    <xacro:counter parent="cuboid"
       name="cuboid_top"
       pos_x="0" pos_y="0" pos_z="0"
       roll="0" pitch="0" yaw="0"
@@ -27,7 +27,7 @@
 
     <link name="cuboid_link">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -37,6 +37,6 @@
       </visual>
     </link>
 
-  </macro>
+  </xacro:macro>
 
 </robot>
diff --git a/iai_kitchen_defs/defs/ias_kitchen/fridge_block.xml b/iai_kitchen_defs/defs/ias_kitchen/fridge_block.xml
index 20dea05..8e25959 100644
--- a/iai_kitchen_defs/defs/ias_kitchen/fridge_block.xml
+++ b/iai_kitchen_defs/defs/ias_kitchen/fridge_block.xml
@@ -8,28 +8,28 @@
   <!-- Fridge Area -->
   <!--             -->
 
-  <macro name="fridge_block" params="block_pos block_rpy">
+  <xacro:macro name="fridge_block" params="block_pos block_rpy">
 
-    <counter parent="fridge_block"
+    <xacro:counter parent="fridge_block"
       name="counter_top_fridge"
       pos_x="0" pos_y="0" pos_z="1.48"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.6" size_z="0.03"
     />
-    <counter_side parent="fridge_block"
+    <xacro:counter_side parent="fridge_block"
       name="counter_side_fridge_left"
       pos_x="0" pos_y="0" pos_z="0.15"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.02" size_z="1.33"
     />
-    <counter_side parent="fridge_block"
+    <xacro:counter_side parent="fridge_block"
       name="counter_side_fridge_right"
       pos_x="0" pos_y="0.58" pos_z="0.15"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.02" size_z="1.33"
     />
 
-    <color_counter parent="fridge_block"
+    <xacro:color_counter parent="fridge_block"
       name="counter_bottom_fridge"
       pos_x="0" pos_y="0" pos_z="0.5"
       roll="0" pitch="0" yaw="0"
@@ -37,7 +37,7 @@
       material="KitchenWhite"
     />
 
-    <color_counter parent="fridge_block"
+    <xacro:color_counter parent="fridge_block"
       name="counter_middle_fridge"
       pos_x="0" pos_y="0" pos_z="0.83"
       roll="0" pitch="0" yaw="0"
@@ -45,19 +45,19 @@
       material="KitchenWhite"
     />
 
-    <drawer parent="fridge_block"
+    <xacro:drawer parent="fridge_block"
       name="drawer_fridge_bottom"
       pos_x="0.0" pos_y="0.0175" pos_z="0.15"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.565" size_z="0.365"
     />
-    <fridge parent="fridge_block"
+    <xacro:fridge parent="fridge_block"
       name="fridge"
       pos_x="0.0" pos_y="0" pos_z="0.51"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.6" size_z="0.97"
     />
-    <skirting parent="fridge_block"
+    <xacro:skirting parent="fridge_block"
       name="skirting_fridge"
       pos_x="0" pos_y="0" pos_z="0"
       roll="0" pitch="0" yaw="0"
@@ -72,7 +72,7 @@
   
     <link name="fridge_block_link">
 
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
 
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -82,6 +82,6 @@
       </visual>
     </link>
     
-  </macro>
+  </xacro:macro>
 
 </robot>
diff --git a/iai_kitchen_defs/defs/ias_kitchen/furniture_defs.xml b/iai_kitchen_defs/defs/ias_kitchen/furniture_defs.xml
index bf7b572..5168a9e 100644
--- a/iai_kitchen_defs/defs/ias_kitchen/furniture_defs.xml
+++ b/iai_kitchen_defs/defs/ias_kitchen/furniture_defs.xml
@@ -7,15 +7,15 @@
   <xacro:include filename="$(find iai_kitchen_defs)/defs/util_defs.xml"/>
 <!--  <include filename="$(find iai_maps)/defs/ias_kitchen/materials.xml"/>-->
 
-  <property name="handle_thickness" value="0.015"/>
-  <property name="handle_offset" value="0.045"/>
-  <property name="handle_distance" value="0.055"/>
+  <xacro:property name="handle_thickness" value="0.015"/>
+  <xacro:property name="handle_offset" value="0.045"/>
+  <xacro:property name="handle_distance" value="0.055"/>
 
   <!--              -->
   <!-- Handle Macro -->
   <!--              -->
 
-  <macro name="handle" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z">
+  <xacro:macro name="handle" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z">
 
     <joint name="${parent}_${name}_joint" type="fixed">
       <origin rpy="${roll} ${pitch} ${yaw}" xyz="${pos_x+size_x/2} ${pos_y+size_y/2} ${pos_z+size_z/2}"/>
@@ -25,14 +25,14 @@
 
     <link name="${name}_link">
       
-      <cuboid_inertia width="${size_x - 0.005}" length="${size_y - 0.005}" height="${size_z - 0.005}" mass="0.1"/>
+      <xacro:cuboid_inertia width="${size_x - 0.005}" length="${size_y - 0.005}" height="${size_z - 0.005}" mass="0.1"/>
 
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
           <box size="${size_x - 0.005} ${size_y - 0.005} ${size_z - 0.005}"/>
         </geometry>
-	<material name="KitchenDarkGray"/>
+        <material name="KitchenDarkGray"/>
       </visual>
 
       <collision>
@@ -48,13 +48,13 @@
     </gazebo>
     
 
-  </macro>
+  </xacro:macro>
 
   <!--              -->
   <!-- Drawer Macro -->
   <!--              -->
 
-  <macro name="drawer" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z">
+  <xacro:macro name="drawer" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z">
     
     <joint name="${parent}_${name}_fixed_joint" type="fixed">
       <origin rpy="${roll} ${pitch} ${yaw}" xyz="${pos_x+size_x-0.01} ${pos_y+size_y/2} ${pos_z+size_z/2}"/>
@@ -63,7 +63,7 @@
     </joint>
 
     <link name="${name}_fixed_link">
-      <sphere_inertia radius="0.001" mass="1"/>
+      <xacro:sphere_inertia radius="0.001" mass="1"/>
     </link>
 
     <joint name="${parent}_${name}_joint" type="prismatic">
@@ -83,14 +83,14 @@
 
     <link name="${name}_link">
 
-      <cuboid_inertia width="0.02" length="${size_y}" height="${size_z}" mass="1.0"/>
+      <xacro:cuboid_inertia width="0.02" length="${size_y}" height="${size_z}" mass="1.0"/>
 
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
           <box size="0.02 ${size_y - 0.005} ${size_z - 0.005}"/>
         </geometry>
-	<material name="KitchenLightGray"/>
+        <material name="KitchenLightGray"/>
       </visual>
 
       <collision>
@@ -113,14 +113,14 @@
 
     <link name="${name}_left_link">
       
-      <cuboid_inertia width="${size_x - 0.04}" length="0.02" height="${size_z - 0.05}" mass="1.0" />
+      <xacro:cuboid_inertia width="${size_x - 0.04}" length="0.02" height="${size_z - 0.05}" mass="1.0" />
 
       <visual>
         <origin xyz="${-size_x/2 + 0.02} ${-size_y/2 + 0.02 + 0.04} 0" rpy="0 0 0"/>
         <geometry>
           <box size="${size_x - 0.04} 0.02 ${size_z - 0.05}"/>
         </geometry>
-	<material name="KitchenDarkGray"/>
+        <material name="KitchenDarkGray"/>
       </visual>
       <collision>
         <origin xyz="${-size_x/2 + 0.02} ${-size_y/2 + 0.02 + 0.04} 0" rpy="0 0 0"/>
@@ -142,14 +142,14 @@
 
     <link name="${name}_right_link">
       
-      <cuboid_inertia width="${size_x - 0.04}" length="0.02" height="${size_z - 0.05}" mass="1.0" />
+      <xacro:cuboid_inertia width="${size_x - 0.04}" length="0.02" height="${size_z - 0.05}" mass="1.0" />
       
       <visual>
         <origin xyz="${-size_x/2 + 0.02} ${size_y/2 - 0.02 - 0.04} 0" rpy="0 0 0"/>
         <geometry>
           <box size="${size_x - 0.04} 0.02 ${size_z - 0.05}"/>
         </geometry>
-	<material name="KitchenDarkGray"/>
+        <material name="KitchenDarkGray"/>
       </visual>
       <collision>
         <origin xyz="${-size_x/2 + 0.02} ${size_y/2 - 0.02 - 0.04} 0" rpy="0 0 0"/>
@@ -171,14 +171,14 @@
     
     <link name="${name}_back_link">
       
-      <cuboid_inertia width="0.02" length="${size_y - 0.04 - 0.04 - 0.02}" height="${size_z - 0.05}" mass="1.0" />
+      <xacro:cuboid_inertia width="0.02" length="${size_y - 0.04 - 0.04 - 0.02}" height="${size_z - 0.05}" mass="1.0" />
 
       <visual>
         <origin xyz="${-size_x + 0.04} 0 0" rpy="0 0 0"/>
         <geometry>
           <box size="0.02 ${size_y - 0.04 - 0.04 - 0.02} ${size_z - 0.05}"/>
         </geometry>
-	<material name="KitchenDarkGray"/>
+        <material name="KitchenDarkGray"/>
       </visual>
 
       <collision>
@@ -201,14 +201,14 @@
     
     <link name="${name}_bottom_link">
 
-      <cuboid_inertia width="${size_x - 0.04}" length="${size_y - 0.04 - 0.04 - 0.02}" height="0.02" mass="1.0" />
+      <xacro:cuboid_inertia width="${size_x - 0.04}" length="${size_y - 0.04 - 0.04 - 0.02}" height="0.02" mass="1.0" />
 
       <visual>
         <origin xyz="${-size_x/2+0.02} 0 ${-size_z/2 + 0.035}" rpy="0 0 0"/>
         <geometry>
           <box size="${size_x - 0.04} ${size_y - 0.04 - 0.04 - 0.02} 0.02"/>
         </geometry>
-	<material name="KitchenDarkGray"/>
+        <material name="KitchenDarkGray"/>
       </visual>
 
       <collision>
@@ -223,7 +223,7 @@
       <material value="Ias/KitchenLightGray" />
     </gazebo>
     
-    <handle
+    <xacro:handle
       name="handle_${name}"
       parent="${name}"
       roll="0" pitch="0" yaw="0"
@@ -233,13 +233,13 @@
       size_x="${handle_thickness}"
       size_y="${size_y - 2*handle_offset}"
       size_z="${handle_thickness}" />
-  </macro>
+  </xacro:macro>
 
   <!--                       -->
   <!-- Drawer Vertical Macro -->
   <!--                       -->
 
-  <macro name="drawer_vert" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z">
+  <xacro:macro name="drawer_vert" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z">
 
     <joint name="${parent}_${name}_fixed_joint" type="fixed">
       <origin rpy="${roll} ${pitch} ${yaw}" xyz="${pos_x+size_x/2} ${pos_y+size_y/2} ${pos_z+size_z/2}"/>
@@ -249,7 +249,7 @@
 
     <link name="${name}_fixed_link">
   
-      <sphere_inertia radius="0.001" mass="0.1"/>
+      <xacro:sphere_inertia radius="0.001" mass="0.1"/>
     
     </link>
 
@@ -263,7 +263,7 @@
 
     <link name="${name}_link">
 
-      <cuboid_inertia width="${size_x - 0.005}" length="${size_y - 0.005}" height="${size_z - 0.005}" mass="1.0"/>
+      <xacro:cuboid_inertia width="${size_x - 0.005}" length="${size_y - 0.005}" height="${size_z - 0.005}" mass="1.0"/>
 
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -285,7 +285,7 @@
       <material value="Ias/KitchenLightGray" />
     </gazebo>
     
-    <handle
+    <xacro:handle
       name="handle_${name}"
       parent="${name}"
       roll="0" pitch="0" yaw="0"
@@ -297,13 +297,13 @@
       size_z="${size_z - 2*handle_offset}"
     />
 
-  </macro>
+  </xacro:macro>
 
   <!--              -->
   <!-- Fridge Macro -->
   <!--              -->
 
-  <macro name="fridge" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z">
+  <xacro:macro name="fridge" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z">
 
     <joint name="${parent}_${name}_fixed_joint" type="fixed">
       <origin rpy="${roll} ${pitch} ${yaw}" xyz="${pos_x+size_x} ${pos_y+size_y} ${pos_z+size_z/2}"/>
@@ -313,7 +313,7 @@
 
     <link name="${name}_fixed_link">
 
-      <sphere_inertia radius="0.001" mass="0.1"/>
+      <xacro:sphere_inertia radius="0.001" mass="0.1"/>
     
     </link>
 
@@ -327,7 +327,7 @@
 
     <link name="${name}_link">
 
-      <cuboid_inertia width="${0.01 - 0.005}" length="${size_y - 0.005}" height="${size_z - 0.005}" mass="1.0"/>
+      <xacro:cuboid_inertia width="${0.01 - 0.005}" length="${size_y - 0.005}" height="${size_z - 0.005}" mass="1.0"/>
 
       <visual>
         <origin xyz="${-0.005} ${-size_y*0.5} 0" rpy="0 0 0"/>
@@ -361,13 +361,13 @@
       size_z="${size_z - 2*handle_offset}"
     />
 
-  </macro>
+  </xacro:macro>
 
   <!--               -->
   <!-- Counter Macro -->
   <!--               -->
 
-  <macro name="counter" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z">
+  <xacro:macro name="counter" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z">
 
     <joint name="${parent}_${name}_joint" type="fixed">
       <origin rpy="${roll} ${pitch} ${yaw}" xyz="${pos_x+size_x/2} ${pos_y+size_y/2} ${pos_z+size_z/2}"/>
@@ -377,14 +377,14 @@
 
     <link name="${name}_link">
 
-      <cuboid_inertia width="${size_x}" length="${size_y}" height="${size_z}" mass="2.0"/>
+      <xacro:cuboid_inertia width="${size_x}" length="${size_y}" height="${size_z}" mass="2.0"/>
 
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
           <box size="${size_x} ${size_y} ${size_z}"/>
         </geometry>
-	<material name="KitchenDarkGray"/>
+        <material name="KitchenDarkGray"/>
       </visual>
 
       <collision>
@@ -403,13 +403,13 @@
       <material value="Ias/KitchenDarkGray" />
     </gazebo>
   
-  </macro>
+  </xacro:macro>
   
   <!--                     -->
   <!-- Color Counter Macro -->
   <!--                     -->
 
-  <macro name="color_counter" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z material">
+  <xacro:macro name="color_counter" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z material">
 
     <joint name="${parent}_${name}_joint" type="fixed">
       <origin rpy="${roll} ${pitch} ${yaw}" xyz="${pos_x+size_x/2} ${pos_y+size_y/2} ${pos_z+size_z/2}"/>
@@ -419,7 +419,7 @@
 
     <link name="${name}_link">
 
-      <cuboid_inertia width="${size_x}" length="${size_y}" height="${size_z}" mass="2.0"/>
+      <xacro:cuboid_inertia width="${size_x}" length="${size_y}" height="${size_z}" mass="2.0"/>
 
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -445,13 +445,13 @@
       <material value="Ias/${material}" />
     </gazebo>
   
-  </macro>
+  </xacro:macro>
 
   <!--                    -->
   <!-- Counter Side Macro -->
   <!--                    -->
 
-  <macro name="counter_side" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z">
+  <xacro:macro name="counter_side" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z">
 
     <joint name="${parent}_${name}_joint" type="fixed">
       <origin rpy="${roll} ${pitch} ${yaw}" xyz="${pos_x+size_x/2} ${pos_y+size_y/2} ${pos_z+size_z/2}"/>
@@ -461,14 +461,14 @@
 
     <link name="${name}_link">
       
-      <cuboid_inertia width="${size_x}" length="${size_y}" height="${size_z}" mass="2.0"/>
+      <xacro:cuboid_inertia width="${size_x}" length="${size_y}" height="${size_z}" mass="2.0"/>
       
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
           <box size="${size_x} ${size_y} ${size_z}"/>
         </geometry>
-	<material name="KitchenDarkGray"/>
+        <material name="KitchenDarkGray"/>
       </visual>
 
       <collision>
@@ -483,13 +483,13 @@
       <material value="Ias/KitchenDarkGray" />
     </gazebo>
   
-  </macro>
+  </xacro:macro>
 
   <!--             -->
   <!-- Rack Macro -->
   <!--             -->
 
-  <macro name="rack" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z">
+  <xacro:macro name="rack" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z">
 
     <joint name="${parent}_${name}_joint" type="fixed">
       <origin rpy="${roll} ${pitch} ${yaw}" xyz="${pos_x+size_x/2} ${pos_y+size_y/2} ${pos_z+size_z/2}"/>
@@ -499,14 +499,14 @@
 
     <link name="${name}_link">
 
-      <cuboid_inertia width="${size_x}" length="${size_y}" height="${size_z}" mass="${size_x*size_y*size_z}"/>
+      <xacro:cuboid_inertia width="${size_x}" length="${size_y}" height="${size_z}" mass="${size_x*size_y*size_z}"/>
   
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
           <box size="${size_x} ${size_y} ${size_z}"/>
         </geometry>
-	<material name="KitchenDarkGray"/>
+        <material name="KitchenDarkGray"/>
       </visual>
 
       <collision>
@@ -521,13 +521,13 @@
       <material value="Ias/KitchenLightGray" />
     </gazebo>
 
-  </macro>
+  </xacro:macro>
 
   <!--                 -->
   <!-- Rack Side Macro -->
   <!--                 -->
 
-  <macro name="rack_side" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z">
+  <xacro:macro name="rack_side" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z">
 
     <joint name="${parent}_${name}_joint" type="fixed">
       <origin rpy="${roll} ${pitch} ${yaw}" xyz="${pos_x+size_x/2} ${pos_y+size_y/2} ${pos_z+size_z/2}"/>
@@ -537,14 +537,14 @@
 
     <link name="${name}_link">
 
-      <cuboid_inertia width="${size_x}" length="${size_y}" height="${size_z}" mass="${size_x*size_y*size_z}"/>
+      <xacro:cuboid_inertia width="${size_x}" length="${size_y}" height="${size_z}" mass="${size_x*size_y*size_z}"/>
       
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
           <box size="${size_x} ${size_y} ${size_z}"/>
         </geometry>
-	<material name="KitchenDarkGray"/>
+        <material name="KitchenDarkGray"/>
       </visual>
 
       <collision>
@@ -559,13 +559,13 @@
       <material value="Ias/KitchenDarkGray" />
     </gazebo>
   
-  </macro>
+  </xacro:macro>
 
   <!--                -->
   <!-- Skirting Macro -->
   <!--                -->
 
-  <macro name="skirting" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z">
+  <xacro:macro name="skirting" params="parent name pos_x pos_y pos_z roll pitch yaw size_x size_y size_z">
 
     <joint name="${parent}_${name}_joint" type="fixed">
       <origin rpy="${roll} ${pitch} ${yaw}" xyz="${pos_x+size_x/2} ${pos_y+size_y/2} ${pos_z+size_z/2}"/>
@@ -575,14 +575,14 @@
 
     <link name="${name}_link">
 
-      <cuboid_inertia width="${size_x}" length="${size_y}" height="${size_z}" mass="10"/>
+      <xacro:cuboid_inertia width="${size_x}" length="${size_y}" height="${size_z}" mass="10"/>
       
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
           <box size="${size_x} ${size_y} ${size_z}"/>
         </geometry>
-	<material name="KitchenDarkGray"/>
+        <material name="KitchenDarkGray"/>
       </visual>
 
       <collision>
@@ -597,6 +597,6 @@
       <material value="Ias/KitchenDarkGray" />
     </gazebo>
 
-  </macro>
+  </xacro:macro>
 
 </robot>
diff --git a/iai_kitchen_defs/defs/ias_kitchen/island_block.xml b/iai_kitchen_defs/defs/ias_kitchen/island_block.xml
index 45f87ef..d1f83ab 100644
--- a/iai_kitchen_defs/defs/ias_kitchen/island_block.xml
+++ b/iai_kitchen_defs/defs/ias_kitchen/island_block.xml
@@ -8,7 +8,7 @@
   <!-- Island Area -->
   <!--             -->
 
-  <macro name="island_block" params="block_pos block_rpy">
+  <xacro:macro name="island_block" params="block_pos block_rpy">
 
     <joint name="island_block_stove_joint" type="fixed">
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -18,14 +18,14 @@
 
     <link name="stove_link">
 
-      <cuboid_inertia width="0.5" length="0.57" height="0.005" mass="1.0"/>
+      <xacro:cuboid_inertia width="0.5" length="0.57" height="0.005" mass="1.0"/>
 
       <visual>
         <origin xyz=".30 1.895 .8525" rpy="0 0 0"/>
         <geometry>
           <box size=".50 .57 0.005"/>
         </geometry>
-	<material name="KitchenStove"/>
+        <material name="KitchenStove"/>
       </visual>
 
       <collision>
@@ -40,92 +40,92 @@
       <material value="Ias/KitchenStove" />
     </gazebo>
 
-    <counter_side parent="island_block"
+    <xacro:counter_side parent="island_block"
       name="counter_side_island_left"
       pos_x="0" pos_y="0" pos_z="0"
       roll="0" pitch="0" yaw="0"
       size_x="0.60" size_y="0.03" size_z="0.82"
     />
-    <counter_side parent="island_block"
+    <xacro:counter_side parent="island_block"
       name="counter_side_island_right"
       pos_x="0" pos_y="2.23" pos_z="0"
       roll="0" pitch="0" yaw="0"
       size_x="0.60" size_y="0.03" size_z="0.82"
     />
-    <counter_side parent="island_block"
+    <xacro:counter_side parent="island_block"
       name="counter_side_island_back"
       pos_x="0" pos_y="0.03" pos_z="0"
       roll="0" pitch="0" yaw="0"
       size_x="0.02" size_y="2.2" size_z="0.82"
     />
-    <counter parent="island_block"
+    <xacro:counter parent="island_block"
       name="counter_top_island"
       pos_x="-0.1" pos_y="-0.1" pos_z="0.82"
       roll="0" pitch="0" yaw="0"
       size_x="0.80" size_y="2.45" size_z="0.03"
     />
-    <color_counter parent="island_block"
+    <xacro:color_counter parent="island_block"
       name="white_counter_top_island"
       pos_x="-0.1" pos_y="-0.1" pos_z="0.85"
       roll="0" pitch="0" yaw="0"
       size_x="0.80" size_y="2.45" size_z="0.002"
       material="KitchenWhite"
     />
-    <drawer parent="island_block"
+    <xacro:drawer parent="island_block"
       name="drawer_island_col1_bottom"
       pos_x="0" pos_y="0.03" pos_z="0.1"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.6" size_z="0.29"
     />
-    <drawer parent="island_block"
+    <xacro:drawer parent="island_block"
       name="drawer_island_col1_center"
       pos_x="0" pos_y="0.03" pos_z="0.39"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.6" size_z="0.29"
     />
-    <drawer parent="island_block"
+    <xacro:drawer parent="island_block"
       name="drawer_island_col1_top"
       pos_x="0" pos_y="0.03" pos_z="0.68"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.6" size_z="0.14"
     />
-    <drawer parent="island_block"
+    <xacro:drawer parent="island_block"
       name="drawer_island_col2_bottom"
       pos_x="0" pos_y="0.63" pos_z="0.1"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="1.0" size_z="0.29"
     />
-    <drawer parent="island_block"
+    <xacro:drawer parent="island_block"
       name="drawer_island_col2_center"
       pos_x="0" pos_y="0.63" pos_z="0.39"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="1.0" size_z="0.29"
     />
-    <drawer parent="island_block"
+    <xacro:drawer parent="island_block"
       name="drawer_island_col2_top"
       pos_x="0" pos_y="0.63" pos_z="0.68"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="1.0" size_z="0.14"
     />
-    <drawer parent="island_block"
+    <xacro:drawer parent="island_block"
       name="drawer_island_col3_bottom"
       pos_x="0" pos_y="1.63" pos_z="0.1"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.6" size_z="0.29"
     />
-    <drawer parent="island_block"
+    <xacro:drawer parent="island_block"
       name="drawer_island_col3_center"
       pos_x="0" pos_y="1.63" pos_z="0.39"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.6" size_z="0.29"
     />
-    <drawer parent="island_block"
+    <xacro:drawer parent="island_block"
       name="drawer_island_col3_top"
       pos_x="0" pos_y="1.63" pos_z="0.68"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.6" size_z="0.14"
       />
-    <skirting parent="island_block"
+    <xacro:skirting parent="island_block"
       name="skirting_island"
       pos_x="0.02" pos_y="0.03" pos_z="0"
       roll="0" pitch="0" yaw="0"
@@ -140,7 +140,7 @@
   
     <link name="island_block_link">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
 
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -150,6 +150,6 @@
       </visual>
     </link>
 
-  </macro>
+  </xacro:macro>
   
 </robot>
diff --git a/iai_kitchen_defs/defs/ias_kitchen/oven_block.xml b/iai_kitchen_defs/defs/ias_kitchen/oven_block.xml
index 2688932..5c38fec 100644
--- a/iai_kitchen_defs/defs/ias_kitchen/oven_block.xml
+++ b/iai_kitchen_defs/defs/ias_kitchen/oven_block.xml
@@ -8,45 +8,45 @@
   <!-- Oven Area -->
   <!--           -->
 
-  <macro name="oven_block" params="block_pos block_rpy">
+  <xacro:macro name="oven_block" params="block_pos block_rpy">
   
-    <counter parent="oven_block"
+    <xacro:counter parent="oven_block"
       name="counter_top_oven"
       pos_x="0" pos_y="0" pos_z="1.48"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="1.2" size_z="0.03"
     />
-    <drawer_vert parent="oven_block"
+    <xacro:drawer_vert parent="oven_block"
       name="drawer_oven_left"
       pos_x="0" pos_y="0" pos_z="0.15"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.30" size_z="1.33"
     />
-    <drawer parent="oven_block"
+    <xacro:drawer parent="oven_block"
       name="drawer_oven_bottom"
       pos_x="0.0" pos_y="0.3" pos_z="0.15"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.6" size_z="0.58"
     />
-    <drawer parent="oven_block"
+    <xacro:drawer parent="oven_block"
       name="drawer_oven_center"
       pos_x="0.0" pos_y="0.3" pos_z="0.73"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.6" size_z="0.14"
     />
-    <drawer parent="oven_block"
+    <xacro:drawer parent="oven_block"
       name="drawer_oven_oven"
       pos_x="0.0" pos_y="0.3" pos_z="0.86"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.6" size_z="0.62"
     />
-    <drawer_vert parent="oven_block"
+    <xacro:drawer_vert parent="oven_block"
       name="drawer_oven_right"
       pos_x="0.0" pos_y="0.9" pos_z="0.15"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.30" size_z="1.33"
     />
-    <skirting parent="oven_block"
+    <xacro:skirting parent="oven_block"
       name="skirting_oven"
       pos_x="0" pos_y="0" pos_z="0"
       roll="0" pitch="0" yaw="0"
@@ -61,7 +61,7 @@
   
     <link name="oven_block_link">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -71,6 +71,6 @@
       </visual>
     </link>
   
-  </macro>
+  </xacro:macro>
 
 </robot>
diff --git a/iai_kitchen_defs/defs/ias_kitchen/shopping_block.xml b/iai_kitchen_defs/defs/ias_kitchen/shopping_block.xml
index 60141a0..1dee6e8 100644
--- a/iai_kitchen_defs/defs/ias_kitchen/shopping_block.xml
+++ b/iai_kitchen_defs/defs/ias_kitchen/shopping_block.xml
@@ -8,33 +8,33 @@
   <!-- Shopping Area -->
   <!--               -->
 
-  <macro name="shopping_block" params="name parent block_pos block_rpy">
+  <xacro:macro name="shopping_block" params="name parent block_pos block_rpy">
 
-    <rack_side parent="${name}_shopping_block"
+    <xacro:rack_side parent="${name}_shopping_block"
       name="${name}_side_rack"
       pos_x="0" pos_y="0" pos_z="0"
       roll="0" pitch="0" yaw="0"
       size_x="0.090" size_y="1.270" size_z="1.600"
     />
-    <rack parent="${name}_shopping_block"
+    <xacro:rack parent="${name}_shopping_block"
       name="${name}_rack_skirting"
       pos_x="0.090" pos_y="0" pos_z="0"
       roll="0" pitch="0" yaw="0"
       size_x="${0.685 - 0.090}" size_y="1.270" size_z="0.150"
     />
-    <rack parent="${name}_shopping_block"
+    <xacro:rack parent="${name}_shopping_block"
       name="${name}_rack_bottom"
       pos_x="0.090" pos_y="0.010" pos_z="0.610"
       roll="0" pitch="0" yaw="0"
       size_x="${0.550 - 0.090}" size_y="1.250" size_z="0.030"
     />
-    <rack parent="${name}_shopping_block"
+    <xacro:rack parent="${name}_shopping_block"
       name="${name}_rack_middle"
       pos_x="0.090" pos_y="0.010" pos_z="1.090"
       roll="0" pitch="0" yaw="0"
       size_x="${0.550 - 0.090}" size_y="1.250" size_z="0.030"
     />
-    <rack parent="${name}_shopping_block"
+    <xacro:rack parent="${name}_shopping_block"
       name="${name}_rack_top"
       pos_x="0.090" pos_y="0.010" pos_z="1.570"
       roll="0" pitch="0" yaw="0"
@@ -56,7 +56,7 @@
 
     <link name="${name}_shopping_block_link">
 
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
     
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -66,6 +66,6 @@
       </visual>
     </link>
     
-  </macro>
+  </xacro:macro>
 
 </robot>
diff --git a/iai_kitchen_defs/defs/ias_kitchen/sink_block.xml b/iai_kitchen_defs/defs/ias_kitchen/sink_block.xml
index 1dd03a7..a9583fc 100644
--- a/iai_kitchen_defs/defs/ias_kitchen/sink_block.xml
+++ b/iai_kitchen_defs/defs/ias_kitchen/sink_block.xml
@@ -4,7 +4,7 @@
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
        xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <macro name="sink_block" params="block_pos block_rpy">
+  <xacro:macro name="sink_block" params="block_pos block_rpy">
 
     <!--           -->
     <!-- Sink Area -->
@@ -18,14 +18,14 @@
 
     <link name="sink_link">
 
-      <cuboid_inertia width="0.5" length="0.86" height="0.005" mass="1.0"/>
+      <xacro:cuboid_inertia width="0.5" length="0.86" height="0.005" mass="1.0"/>
 
       <visual>
         <origin xyz=".295 1.485 .8525" rpy="0 0 0"/>
         <geometry>
           <box size=".50 .86 0.005"/>
         </geometry>
-	<material name="KitchenSink"/>
+        <material name="KitchenSink"/>
       </visual>
 
       <collision>
@@ -40,68 +40,68 @@
       <material value="Ias/KitchenSink" />
     </gazebo>
 
-    <counter_side parent="sink_block"
+    <xacro:counter_side parent="sink_block"
       name="counter_side_sink_left"
       pos_x="0" pos_y="0" pos_z="0"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.03" size_z="0.82"
     />
-    <counter_side parent="sink_block"
+    <xacro:counter_side parent="sink_block"
       name="counter_side_sink_right"
       pos_x="0" pos_y="2.03" pos_z="0"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.03" size_z="0.82"
     />
-    <counter parent="sink_block"
+    <xacro:counter parent="sink_block"
       name="counter_top_sink"
       pos_x="0" pos_y="0" pos_z="0.82"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="2.06" size_z="0.03"
     />
-    <color_counter parent="sink_block"
+    <xacro:color_counter parent="sink_block"
       name="white_counter_top_sink"
       pos_x="0" pos_y="0" pos_z="0.85"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="2.06" size_z="0.002"
       material="KitchenWhite"
     />
-    <drawer parent="sink_block"
+    <xacro:drawer parent="sink_block"
       name="drawer_sink_col1_bottom"
       pos_x="0" pos_y="0.03" pos_z="0.1"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.8" size_z="0.29"
     />
-    <drawer parent="sink_block"
+    <xacro:drawer parent="sink_block"
       name="drawer_sink_col1_center"
       pos_x="0" pos_y="0.03" pos_z="0.39"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.8" size_z="0.29"
     />
-    <drawer parent="sink_block"
+    <xacro:drawer parent="sink_block"
       name="drawer_sink_col1_top"
       pos_x="0" pos_y="0.03" pos_z="0.68"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.8" size_z="0.14"
     />
-    <drawer parent="sink_block"
+    <xacro:drawer parent="sink_block"
       name="drawer_sink_col2"
       pos_x="0" pos_y="0.83" pos_z="0.1"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.6" size_z="0.72"
     />
-    <drawer parent="sink_block"
+    <xacro:drawer parent="sink_block"
       name="drawer_sink_col3_bottom"
       pos_x="0" pos_y="1.43" pos_z="0.1"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.6" size_z="0.58"
     />
-    <drawer parent="sink_block"
+    <xacro:drawer parent="sink_block"
       name="drawer_sink_col3_top"
       pos_x="0" pos_y="1.43" pos_z="0.68"
       roll="0" pitch="0" yaw="0"
       size_x="0.58" size_y="0.6" size_z="0.14"
     />
-    <skirting parent="sink_block"
+    <xacro:skirting parent="sink_block"
       name="skirting_sink"
       pos_x="0" pos_y="0.03" pos_z="0"
       roll="0" pitch="0" yaw="0"
@@ -116,7 +116,7 @@
   
     <link name="sink_block_link">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -126,6 +126,6 @@
       </visual>
     </link>
   
-  </macro>
+  </xacro:macro>
 
 </robot>
diff --git a/iai_kitchen_defs/defs/ias_kitchen/small_table.xml b/iai_kitchen_defs/defs/ias_kitchen/small_table.xml
index d7d25a5..b03aff9 100644
--- a/iai_kitchen_defs/defs/ias_kitchen/small_table.xml
+++ b/iai_kitchen_defs/defs/ias_kitchen/small_table.xml
@@ -12,9 +12,9 @@
     <!-- Table -->
     <!--       -->
     
-    <macro name="small_table" params="name parent block_pos block_rpy material">
+    <xacro:macro name="small_table" params="name parent block_pos block_rpy material">
       
-      <color_counter parent="${name}_table"
+      <xacro:color_counter parent="${name}_table"
       name="${name}_table_top"
       pos_x="0" pos_y="0" pos_z="0.705"
       roll="0" pitch="0" yaw="0"
@@ -30,7 +30,7 @@
           
           <link name="${name}_first_leg_link">
             
-            <cylinder_inertia radius="0.025" length="0.7" mass="1.0"/>
+            <xacro:cylinder_inertia radius="0.025" length="0.7" mass="1.0"/>
             
             <visual>
               <origin xyz="0 0 0" rpy="0 0 0" />
@@ -58,7 +58,7 @@
           
           <link name="${name}_second_leg_link">
             
-            <cylinder_inertia radius="0.025" length="0.7" mass="1.0"/>
+            <xacro:cylinder_inertia radius="0.025" length="0.7" mass="1.0"/>
             
             <visual>
               <origin xyz="0 0 0" rpy="0 0 0" />
@@ -86,7 +86,7 @@
           
           <link name="${name}_third_leg_link">
             
-            <cylinder_inertia radius="0.025" length="0.7" mass="1.0"/>
+            <xacro:cylinder_inertia radius="0.025" length="0.7" mass="1.0"/>
             
             <visual>
               <origin xyz="0 0 0" rpy="0 0 0" />
@@ -114,7 +114,7 @@
           
           <link name="${name}_fourth_leg_link">
             
-            <cylinder_inertia radius="0.025" length="0.7" mass="1.0"/>
+            <xacro:cylinder_inertia radius="0.025" length="0.7" mass="1.0"/>
             
             <visual>
               <origin xyz="0 0 0" rpy="0 0 0" />
@@ -142,7 +142,7 @@
           
           <link name="${name}_table_link">
             
-            <sphere_inertia radius="0" mass="0"/>
+            <xacro:sphere_inertia radius="0" mass="0"/>
             
             <visual>
               <origin xyz="0 0 0" rpy="0 0 0" />
@@ -152,7 +152,7 @@
             </visual>
           </link>
           
-        </macro>
+        </xacro:macro>
         
       </robot>
       
diff --git a/iai_kitchen_defs/defs/ias_kitchen/table.xml b/iai_kitchen_defs/defs/ias_kitchen/table.xml
index a4a93d0..b7aa80e 100644
--- a/iai_kitchen_defs/defs/ias_kitchen/table.xml
+++ b/iai_kitchen_defs/defs/ias_kitchen/table.xml
@@ -12,9 +12,9 @@
   <!-- Table -->
   <!--       -->
 
-  <macro name="table" params="name parent block_pos block_rpy material">
+  <xacro:macro name="table" params="name parent block_pos block_rpy material">
 
-    <color_counter parent="${name}_table"
+    <xacro:color_counter parent="${name}_table"
       name="${name}_table_top"
       pos_x="0" pos_y="0" pos_z="0.705"
       roll="0" pitch="0" yaw="0"
@@ -30,7 +30,7 @@
 
     <link name="${name}_first_leg_link">
 
-      <cylinder_inertia radius="0.025" length="0.7" mass="1.0"/>
+      <xacro:cylinder_inertia radius="0.025" length="0.7" mass="1.0"/>
 
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -58,7 +58,7 @@
 
     <link name="${name}_second_leg_link">
       
-      <cylinder_inertia radius="0.025" length="0.7" mass="1.0"/>
+      <xacro:cylinder_inertia radius="0.025" length="0.7" mass="1.0"/>
       
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -86,7 +86,7 @@
 
     <link name="${name}_third_leg_link">
       
-      <cylinder_inertia radius="0.025" length="0.7" mass="1.0"/>
+      <xacro:cylinder_inertia radius="0.025" length="0.7" mass="1.0"/>
       
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -114,7 +114,7 @@
 
     <link name="${name}_fourth_leg_link">
       
-      <cylinder_inertia radius="0.025" length="0.7" mass="1.0"/>
+      <xacro:cylinder_inertia radius="0.025" length="0.7" mass="1.0"/>
       
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -142,7 +142,7 @@
 
     <link name="${name}_table_link">
       
-      <sphere_inertia radius="0" mass="0"/>
+      <xacro:sphere_inertia radius="0" mass="0"/>
       
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -152,6 +152,6 @@
       </visual>
     </link>
 
-  </macro>
+  </xacro:macro>
 
 </robot>
diff --git a/iai_kitchen_defs/defs/util_defs.xml b/iai_kitchen_defs/defs/util_defs.xml
index 6f52174..aedf6c2 100644
--- a/iai_kitchen_defs/defs/util_defs.xml
+++ b/iai_kitchen_defs/defs/util_defs.xml
@@ -1,29 +1,30 @@
 <?xml version="1.0"?>
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
 
-  <property name="M_PI" value="3.1415926535897931"/>
+  <xacro:property name="M_PI" value="3.1415926535897931"/>
 
   <!-- Little helper macro to define the inertia matrix needed for links. -->
 
-  <macro name="cuboid_inertia_def" params="width height length mass">
-    <inertia ixx="${mass * (height * height + length * length) / 12)}"
-             iyy="${mass * (width * width + length * length) / 12)}"
-             izz="${mass * (width * width + height * height) / 12)}"
+  <xacro:macro name="cuboid_inertia_def" params="width height length mass">
+    <inertia ixx="${mass * (height * height + length * length) / 12}"
+             iyy="${mass * (width * width + length * length) / 12}"
+             izz="${mass * (width * width + height * height) / 12}"
              ixy="0" iyz="0" ixz="0"/>
-  </macro>
+  </xacro:macro>
 
   <!-- Length is along the y-axis. -->
 
-  <macro name="cylinder_inertia_def" params="radius length mass">
-    <inertia ixx="${mass * (3 * radius * radius + length * length) / 12)}"
-             iyy="${mass * radius * radius / 2)}"
-             izz="${mass * (3 * radius * radius + length * length) / 12)}"
+  <xacro:macro name="cylinder_inertia_def" params="radius length mass">
+    <inertia ixx="${mass * (3 * radius * radius + length * length) / 12}"
+             iyy="${mass * radius * radius / 2}"
+             izz="${mass * (3 * radius * radius + length * length) / 12}"
              ixy="0" iyz="0" ixz="0"/>
-  </macro>
+  </xacro:macro>
 
-  <macro name="sphere_inertia" params="radius mass">
+  <xacro:macro name="sphere_inertia" params="radius mass">
     <inertial>
       <mass value="${mass}"/>
       <inertia ixx="${(2*mass*radius*radius)/5}"
@@ -31,20 +32,20 @@
                izz="${(2*mass*radius*radius)/5}"
                ixy="0" iyz="0" ixz="0" />
       </inertial>
-  </macro>
+  </xacro:macro>
 
-  <macro name="cuboid_inertia" params="width height length mass">
+  <xacro:macro name="cuboid_inertia" params="width height length mass">
     <inertial>
       <mass value="${mass}"/>
-      <cuboid_inertia_def width="${width}" height="${height}" length="${length}" mass="${mass}"/>
+      <xacro:cuboid_inertia_def width="${width}" height="${height}" length="${length}" mass="${mass}"/>
     </inertial>
-  </macro>
+  </xacro:macro>
 
-  <macro name="cylinder_inertia" params="radius length mass">
+  <xacro:macro name="cylinder_inertia" params="radius length mass">
     <inertial>
       <mass value="${mass}"/>
-      <cylinder_inertia_def radius="${radius}" length="${length}" mass="${mass}"/>
+      <xacro:cylinder_inertia_def radius="${radius}" length="${length}" mass="${mass}"/>
     </inertial>
-  </macro>
+  </xacro:macro>
 
 </robot>
diff --git a/iai_kitchen_defs/package.xml b/iai_kitchen_defs/package.xml
index 9f042c8..94c492e 100644
--- a/iai_kitchen_defs/package.xml
+++ b/iai_kitchen_defs/package.xml
@@ -3,7 +3,7 @@
   <version>1.0.0</version>
   <description>URDF description of the kitchen laboratory of the IAI in Bremen</description>
 
-  <maintainer email="winkler@cs.uni-bremen.de">Jan Winkler</maintainer>
+  <maintainer email="aniedz@cs.uni-bremen.de">Arthur Niedzwiecki</maintainer>
 
   <license>LGPL</license>
 
diff --git a/iai_kitchen_defs/room/allInOne.urdf.xml b/iai_kitchen_defs/room/allInOne.urdf.xml
index 9b1dc50..b8da20d 100644
--- a/iai_kitchen_defs/room/allInOne.urdf.xml
+++ b/iai_kitchen_defs/room/allInOne.urdf.xml
@@ -2,6 +2,7 @@
 <robot name="room" xmlns:xacro="http://www.ros.org/wiki/xacro">
   
   <xacro:include filename="$(find iai_kitchen_defs)/defs/util_defs.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/room/lab_macros.xml"/>
   <xacro:include filename="$(find iai_kitchen_defs)/Media/models/cash_register.urdf.xml"/>
   <xacro:include filename="$(find iai_kitchen_defs)/Media/models/chair.urdf.xml"/>
   <xacro:include filename="$(find iai_kitchen_defs)/Media/models/cnc.urdf.xml"/>
@@ -9,207 +10,132 @@
   <xacro:include filename="$(find iai_kitchen_defs)/Media/models/glasses.urdf.xml"/>
   <xacro:include filename="$(find iai_kitchen_defs)/Media/models/wine_cooler.urdf.xml"/>
   
+  <link name="room_link">
+    <xacro:sphere_inertia radius="0.001" mass="1"/>
+  </link>
   
   <!-- west wall -->
   
-  <wall name="w_wall_right" xyz="2.785 4.99 1.25" sxyz="0.54 0.1 2.5" material="Gazebo/White"/>
-  <wall name="w_wall_right_window" xyz="1.415 4.99 0.2925" sxyz="2.2 0.1 0.585" material="Gazebo/White"/>
-  <wall name="w_window_right" xyz="1.415 4.99 1.5425" sxyz="2.2 0.1 1.915" material="Gazebo/BlueTransparent"/>
-  <wall name="w_wall_center" xyz="0.025 4.99 1.25" sxyz="0.58 0.1 2.5" material="Gazebo/White"/>
-  <wall name="w_wall_center_window" xyz="-1.365 4.99 0.2925" sxyz="2.2 0.1 0.585" material="Gazebo/White"/>
-  <wall name="w_window_center" xyz="-1.365 4.99 1.5425" sxyz="2.2 0.1 1.915" material="Gazebo/BlueTransparent"/>
-  <wall name="w_wall_left" xyz="-3.07025 4.99 1.25" sxyz="1.215 0.1 2.5" material="Custom/acat"/>
-  <wall name="w_wall_left_window" xyz="-4.263 4.99 0.075" sxyz="1.175 0.1 0.15" material="Gazebo/White"/>
-  <wall name="w_window_left" xyz="-4.263 4.99 1.325" sxyz="1.175 0.1 2.35" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="w_wall_right" parent="room" xyz="2.785 4.99 1.25" sxyz="0.54 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="w_wall_right_window" parent="room" xyz="1.415 4.99 0.2925" sxyz="2.2 0.1 0.585" material="Gazebo/White"/>
+  <xacro:wall name="w_window_right" parent="room" xyz="1.415 4.99 1.5425" sxyz="2.2 0.1 1.915" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="w_wall_center" parent="room" xyz="0.025 4.99 1.25" sxyz="0.58 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="w_wall_center_window" parent="room" xyz="-1.365 4.99 0.2925" sxyz="2.2 0.1 0.585" material="Gazebo/White"/>
+  <xacro:wall name="w_window_center" parent="room" xyz="-1.365 4.99 1.5425" sxyz="2.2 0.1 1.915" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="w_wall_left" parent="room" xyz="-3.07025 4.99 1.25" sxyz="1.215 0.1 2.5" material="Custom/acat"/>
+  <xacro:wall name="w_wall_left_window" parent="room" xyz="-4.263 4.99 0.075" sxyz="1.175 0.1 0.15" material="Gazebo/White"/>
+  <xacro:wall name="w_window_left" parent="room" xyz="-4.263 4.99 1.325" sxyz="1.175 0.1 2.35" material="Gazebo/BlueTransparent"/>
   
   
   <!-- east wall -->
   
-  <wall name="e_wall_right" xyz="-5.2605 -7.08 1.25" sxyz="0.21 0.1 2.5" material="Gazebo/White"/>
-  <wall name="e_wall_right_window" xyz="-4.0705 -7.08 0.2925" sxyz="2.17 0.1 0.585" material="Gazebo/White"/>
-  <wall name="e_window_right" xyz="-4.0705 -7.08 1.5425" sxyz="2.17 0.1 1.915" material="Gazebo/BlueTransparent"/>
-  <wall name="e_wall_center_right" xyz="-2.6955 -7.08 1.25" sxyz="0.58 0.1 2.5" material="Custom/robohow"/>
-  <wall name="e_wall_center_window" xyz="-1.3205 -7.08 0.2925" sxyz="2.17 0.1 0.585" material="Gazebo/White"/>
-  <wall name="e_window_center" xyz="-1.3205 -7.08 1.5425" sxyz="2.17 0.1 1.915" material="Gazebo/BlueTransparent"/>
-  <wall name="e_wall_center_left" xyz="0.0545 -7.08 1.25" sxyz="0.58 0.1 2.5" material="Custom/roboearth2"/>
-  <wall name="e_wall_left_window" xyz="1.4395 -7.08 0.2925" sxyz="2.19 0.1 0.585" material="Gazebo/White"/>
-  <wall name="e_window_left" xyz="1.4395 -7.08 1.5425" sxyz="2.19 0.1 1.915" material="Gazebo/BlueTransparent"/>  
-  <wall name="e_wall_left" xyz="2.8 -7.08 1.25" sxyz="0.531 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="e_wall_right" parent="room" xyz="-5.2605 -7.08 1.25" sxyz="0.21 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="e_wall_right_window" parent="room" xyz="-4.0705 -7.08 0.2925" sxyz="2.17 0.1 0.585" material="Gazebo/White"/>
+  <xacro:wall name="e_window_right" parent="room" xyz="-4.0705 -7.08 1.5425" sxyz="2.17 0.1 1.915" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="e_wall_center_right" parent="room" xyz="-2.6955 -7.08 1.25" sxyz="0.58 0.1 2.5" material="Custom/robohow"/>
+  <xacro:wall name="e_wall_center_window" parent="room" xyz="-1.3205 -7.08 0.2925" sxyz="2.17 0.1 0.585" material="Gazebo/White"/>
+  <xacro:wall name="e_window_center" parent="room" xyz="-1.3205 -7.08 1.5425" sxyz="2.17 0.1 1.915" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="e_wall_center_left" parent="room" xyz="0.0545 -7.08 1.25" sxyz="0.58 0.1 2.5" material="Custom/roboearth2"/>
+  <xacro:wall name="e_wall_left_window" parent="room" xyz="1.4395 -7.08 0.2925" sxyz="2.19 0.1 0.585" material="Gazebo/White"/>
+  <xacro:wall name="e_window_left" parent="room" xyz="1.4395 -7.08 1.5425" sxyz="2.19 0.1 1.915" material="Gazebo/BlueTransparent"/>  
+  <xacro:wall name="e_wall_left" parent="room" xyz="2.8 -7.08 1.25" sxyz="0.531 0.1 2.5" material="Gazebo/White"/>
   
   
   <!-- north wall (left room) -->
   
-  <wall name="n_l_wall_right" xyz="3.90 -0.055 1.25" sxyz="0.1 0.94 2.5" material="Custom/logos"/>
-  <wall name="n_l_wall_center_window" xyz="3.90 1.705 0.075" sxyz="0.1 2.58 0.15" material="Gazebo/White"/>
-  <wall name="n_l_window_center" xyz="3.90 1.705 1.325" sxyz="0.1 2.58 2.35" material="Gazebo/BlueTransparent"/>
-  <wall name="n_l_wall_left" xyz="3.90 3.57 1.25" sxyz="0.1 1.15 2.5" material="Custom/saphari"/>
+  <xacro:wall name="n_l_wall_right" parent="room" xyz="3.90 -0.055 1.25" sxyz="0.1 0.94 2.5" material="Custom/logos"/>
+  <xacro:wall name="n_l_wall_center_window" parent="room" xyz="3.90 1.705 0.075" sxyz="0.1 2.58 0.15" material="Gazebo/White"/>
+  <xacro:wall name="n_l_window_center" parent="room" xyz="3.90 1.705 1.325" sxyz="0.1 2.58 2.35" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="n_l_wall_left" parent="room" xyz="3.90 3.57 1.25" sxyz="0.1 1.15 2.5" material="Custom/saphari"/>
   
   
   
   <!-- north wall (right room) -->
   
-  <wall name="n_r_wall_right" xyz="3.90 -3.985 1.25" sxyz="0.1 4.5 2.5" material="Custom/unihb_tum"/>
-  <wall name="n_r_wall_center_window" xyz="3.90 -1.13 0.075" sxyz="0.1 1.21 0.15" material="Gazebo/White"/>
-  <wall name="n_r_window_center" xyz="3.90 -1.13 1.325" sxyz="0.1 1.21 2.35" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="n_r_wall_right" parent="room" xyz="3.90 -3.985 1.25" sxyz="0.1 4.5 2.5" material="Custom/unihb_tum"/>
+  <xacro:wall name="n_r_wall_center_window" parent="room" xyz="3.90 -1.13 0.075" sxyz="0.1 1.21 0.15" material="Gazebo/White"/>
+  <xacro:wall name="n_r_window_center" parent="room" xyz="3.90 -1.13 1.325" sxyz="0.1 1.21 2.35" material="Gazebo/BlueTransparent"/>
 
   
   
   <!-- south wall (left room) -->
   
-  <wall name="s_l_wall_right" xyz="-4.9005 4.13 1.25" sxyz="0.1 1.82 2.5" material="Gazebo/White"/>
-  <wall name="s_l_wall_v_right" xyz="-5.1655 3.27 1.25" sxyz="0.43 0.1 2.5" material="Gazebo/White"/>
-  <wall name="s_l_wall_door_right" xyz="-5.3305 3.08 1.25" sxyz="0.1 0.28 2.5" material="Gazebo/White"/>
-  <wall name="s_l_wall_door_left" xyz="-5.3305 1.74 1.25" sxyz="0.1 0.28 2.5" material="Gazebo/White"/>
-  <wall name="s_l_wall_v_left" xyz="-4.8655 1.55 1.25" sxyz="1.0 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="s_l_wall_right" parent="room" xyz="-4.9005 4.13 1.25" sxyz="0.1 1.82 2.5" material="Gazebo/White"/>
+  <xacro:wall name="s_l_wall_v_right" parent="room" xyz="-5.1655 3.27 1.25" sxyz="0.43 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="s_l_wall_door_right" parent="room" xyz="-5.3305 3.08 1.25" sxyz="0.1 0.28 2.5" material="Gazebo/White"/>
+  <xacro:wall name="s_l_wall_door_left" parent="room" xyz="-5.3305 1.74 1.25" sxyz="0.1 0.28 2.5" material="Gazebo/White"/>
+  <xacro:wall name="s_l_wall_v_left" parent="room" xyz="-4.8655 1.55 1.25" sxyz="1.0 0.1 2.5" material="Gazebo/White"/>
   
-  <wall name="s_l_wall_left" xyz="-4.3155 0.545 1.25" sxyz="0.1 2.11 2.5" material="Gazebo/White"/>
+  <xacro:wall name="s_l_wall_left" parent="room" xyz="-4.3155 0.545 1.25" sxyz="0.1 2.11 2.5" material="Gazebo/White"/>
 
   <!-- south wall (right room) -->
-  <wall name="wall_door_left" xyz="-4.3155 -1.9 1.25" sxyz="0.1 0.42 2.5" material="Gazebo/White"/>
-  <wall name="wall_v" xyz="-4.8655 -2.06 1.25" sxyz="1.0 0.1 2.5" material="Gazebo/White"/>
-  <wall name="wall_left" xyz="-5.3155 -4.57 1.25" sxyz="0.1 4.92 2.5" material="Gazebo/White"/>
+  <xacro:wall name="wall_door_left" parent="room" xyz="-4.3155 -1.9 1.25" sxyz="0.1 0.42 2.5" material="Gazebo/White"/>
+  <xacro:wall name="wall_v" parent="room" xyz="-4.8655 -2.06 1.25" sxyz="1.0 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="wall_left" parent="room" xyz="-5.3155 -4.57 1.25" sxyz="0.1 4.92 2.5" material="Gazebo/White"/>
   
   
   <!-- pillars -->
   
-  <pillar name="small_pillar" xyz="0 -0.3 1.25" r="0.15" />
-  <pillar name="large_pillar_1" xyz="3.85 -7.03 1.25" r="0.795" />
-  <pillar name="large_pillar_2" xyz="3.85 4.94 1.25" r="0.795" />
+  <xacro:pillar name="small_pillar" parent="room" xyz="0 -0.3 1.25" radius="0.15" length="2.5"/>
+  <xacro:pillar name="large_pillar_1" parent="room" xyz="3.85 -7.03 1.25" radius="0.795" length="2.5"/>
+  <xacro:pillar name="large_pillar_2" parent="room" xyz="3.85 4.94 1.25" radius="0.795" length="2.5"/>
   
   
   <!-- partition walls -->
   
-  <wall name="partition_wall_work1" xyz="-2.1 -0.3 0.5" sxyz="4.4 0.1 1" material="Gazebo/White"/>
-  <wall name="partition_wall_work2" xyz="0 -1 0.5" sxyz="0.1 1.5 1" material="Gazebo/White"/>
+  <xacro:wall name="partition_wall_work1" parent="room" xyz="-2.1 -0.3 0.5" sxyz="4.4 0.1 1" material="Gazebo/White"/>
+  <xacro:wall name="partition_wall_work2" parent="room" xyz="0 -1 0.5" sxyz="0.1 1.5 1" material="Gazebo/White"/>
   
-  <wall name="partition_wall_shop" xyz="-0.25 -5 0.5" sxyz="0.1 4 1" material="Gazebo/White"/>
+  <xacro:wall name="partition_wall_shop" parent="room" xyz="-0.25 -5 0.5" sxyz="0.1 4 1" material="Gazebo/White"/>
  
   
   <!-- ground -->
   
-  <wall name="boden_kitchen" xyz="-2.65 -3.7 0.0005" sxyz="5.3 6.8 00.001" material="Ground/Blue"/>
-  <wall name="boden_shop" xyz="1.95 -4 0.0005" sxyz="3.9 6 00.001" material="Ground/Yellow"/>
-  <wall name="boden_mech" xyz="1.95 2 0.0005" sxyz="3.9 6 00.001" material="Ground/Red"/>
-  <wall name="boden_bio" xyz="-2.65 2.35 0.0005" sxyz="5.3 5.3 00.001" material="Ground/Green"/>
-  
-  
-  
-  <link name="room_link">
-    <sphere_inertia radius="0.001" mass="1"/>
-  </link>
-  
-  <!-- macro for walls -->
-  <macro name="wall" params="name xyz sxyz material">
-    
-    <joint name="${name}_joint" type="fixed">
-      <origin rpy="0 0 0" xyz="${xyz}"/>
-      <parent link="room_link"/>
-      <child link="${name}_link"/>
-    </joint>
-    
-    <link name="${name}_link">
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <geometry>
-          <box size="${sxyz}"/>
-        </geometry>
-      </visual>      
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <geometry>
-          <box size="${sxyz}"/>
-        </geometry> 
-      </collision>
-      <inertial>
-        <mass value="1000" />
-        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
-      </inertial>
-    </link>    
-    <gazebo reference="${name}_link">
-      <static>true</static>
-      <material>${material}</material>
-    </gazebo>
-  </macro>
-  
-  
-  <!-- macro for pillars -->
-  <macro name="pillar" params="name xyz r">
-    
-    <joint name="${name}_joint" type="fixed">
-      <origin rpy="0 0 0" xyz="${xyz}"/>
-      <parent link="room_link"/>
-      <child link="${name}_link"/>
-    </joint>
-    
-    <link name="${name}_link">  
-      <visual>
-        <geometry>
-          <cylinder length="2.5" radius="${r}"/>
-        </geometry>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-      </visual>
-      <collision>
-        <geometry>
-          <cylinder length="2.5" radius="${r}"/>
-        </geometry>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-      </collision>
-      <inertial>
-        <mass value="1000" />
-        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
-      </inertial>
-    </link>
-    <gazebo reference="${name}_link">
-      <static>true</static>
-    </gazebo>
-  </macro>
+  <xacro:wall name="boden_kitchen" parent="room" xyz="-2.65 -3.7 0.0005" sxyz="5.3 6.8 00.001" material="Ground/Blue"/>
+  <xacro:wall name="boden_shop" parent="room" xyz="1.95 -4 0.0005" sxyz="3.9 6 00.001" material="Ground/Yellow"/>
+  <xacro:wall name="boden_mech" parent="room" xyz="1.95 2 0.0005" sxyz="3.9 6 00.001" material="Ground/Red"/>
+  <xacro:wall name="boden_bio" parent="room" xyz="-2.65 2.35 0.0005" sxyz="5.3 5.3 00.001" material="Ground/Green"/>
   
   <gazebo>
     <static>true</static>
   </gazebo>
-      
-      
-      
-      
-      
-  
-  
+
   
   <!--         -->
   <!-- Kitchen -->
   <!--         -->
   
   
-  <include filename="$(find iai_maps)/defs/ias_kitchen/furniture_defs.xml"/>
-  <include filename="$(find iai_maps)/defs/ias_kitchen/island_block.xml"/>
-  <include filename="$(find iai_maps)/defs/ias_kitchen/oven_block.xml"/>
-  <include filename="$(find iai_maps)/defs/ias_kitchen/fridge_block.xml"/>
-  <include filename="$(find iai_maps)/defs/ias_kitchen/sink_block.xml"/>
-  <include filename="$(find iai_maps)/defs/ias_kitchen/shopping_block.xml"/>
-  <include filename="$(find iai_maps)/defs/ias_kitchen/table.xml"/>
-  <include filename="$(find iai_maps)/defs/ias_kitchen/small_table.xml"/>
-  <include filename="$(find iai_maps)/defs/ias_kitchen/cuboid.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/furniture_defs.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/island_block.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/oven_block.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/fridge_block.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/sink_block.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/shopping_block.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/table.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/small_table.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/cuboid.xml"/>
   
   
   <!-- This is the top level joint /tf frame. -->
   <link name="kitchen_link">
-    <sphere_inertia radius="0.001" mass="1"/>
+    <xacro:sphere_inertia radius="0.001" mass="1"/>
   </link>
-  
+
   <!-- Shelves on top of kitchen counter -->
-  <counter parent="kitchen"
+  <xacro:counter parent="kitchen"
   name="shelf_bottom"
   pos_x="-5.22" pos_y="-5.65" pos_z="0.85"
   roll="0" pitch="0" yaw="0"
   size_x="0.25" size_y="0.38" size_z="0.025"
   />
-  <counter parent="kitchen"
+  <xacro:counter parent="kitchen"
   name="shelf_center"
   pos_x="-5.22" pos_y="-5.65" pos_z="1.15"
   roll="0" pitch="0" yaw="0"
   size_x="0.21" size_y="0.38" size_z="0.025"
   />
-  <counter parent="kitchen"
+  <xacro:counter parent="kitchen"
   name="shelf_top"
   pos_x="-5.22" pos_y="-5.65" pos_z="1.48"
   roll="0" pitch="0" yaw="0"
@@ -217,36 +143,36 @@
   />
 
   <!-- Finally, the 5 main blocks of the kitchen -->
-  <island_block block_pos="-1.50 -4.35 0" block_rpy="0 0 3.141"/>
+  <xacro:island_block block_pos="-1.50 -4.35 0" block_rpy="0 0 3.141"/>
   
-  <oven_block block_pos="-5.22 -6.85 0" block_rpy="0 0 0"/>
+  <xacro:oven_block block_pos="-5.22 -6.85 0" block_rpy="0 0 0"/>
   
-  <sink_block block_pos="-5.01 -5.65 0" block_rpy="0 0 0"/>
+  <xacro:sink_block block_pos="-5.01 -5.65 0" block_rpy="0 0 0"/>
   
-  <fridge_block block_pos="-5.125 -3.59 0" block_rpy="0 0 0"/>
+  <xacro:fridge_block block_pos="-5.125 -3.59 0" block_rpy="0 0 0"/>
   
   
   
   
-  <shopping_block name="left_shopping_block" parent="kitchen" block_pos="3.8 -4.1 0" block_rpy="0 0 3.141"/>
+  <xacro:shopping_block name="left_shopping_block" parent="kitchen" block_pos="3.8 -4.1 0" block_rpy="0 0 3.141"/>
   <!---x 5 -y -2.5 -z 0.0 -R 0 -P 0.0 -Y 3.9265-->
-  <wine_cooler name="cooler" parent="kitchen" xyz="3.0 -5.5 0" rpy="0 0 3.9265"/>
+  <xacro:wine_cooler name="cooler" parent="kitchen" xyz="3.0 -5.5 0" rpy="0 0 3.9265"/>
   
-  <shopping_block name="right_shopping_block" parent="kitchen" block_pos="2.2 -6.97 0" block_rpy="0 0 1.57"/>
+  <xacro:shopping_block name="right_shopping_block" parent="kitchen" block_pos="2.2 -6.97 0" block_rpy="0 0 1.57"/>
   
   
-  <table name="cash1" parent="kitchen" block_pos="1.52 -5 0" block_rpy="0 0 1.57" material="KitchenWhite"/>
-  <small_table name="cash2" parent="kitchen" block_pos="0.9 -5 0" block_rpy="0 0 1.57" material="KitchenWhite"/>
+  <xacro:table name="cash1" parent="kitchen" block_pos="1.52 -5 0" block_rpy="0 0 1.57" material="KitchenWhite"/>
+  <xacro:small_table name="cash2" parent="kitchen" block_pos="0.9 -5 0" block_rpy="0 0 1.57" material="KitchenWhite"/>
   
-  <cash_register name="cash" parent="kitchen" xyz="0.5 -4.4 0.73" rpy="0 0 3.1415"/>
+  <xacro:cash_register name="cash" parent="kitchen" xyz="0.5 -4.4 0.73" rpy="0 0 3.1415"/>
   
   
   
-  <table name="eating_table" parent="kitchen" block_pos="-1.7 -2.1 0" block_rpy="0 0 1.57" material="KitchenWhite"/>
-  <chair name="eating_1" parent="kitchen" xyz="-1.35 -1.2 0" rpy="0 0 1.57"/>
-  <chair name="eating_2" parent="kitchen" xyz="-1.35 -1.8 0" rpy="0 0 1.57"/>
-  <chair name="eating_3" parent="kitchen" xyz="-2.65 -0.75 0" rpy="0 0 -1.57"/>
-  <chair name="eating_4" parent="kitchen" xyz="-2.65 -1.35 0" rpy="0 0 -1.57"/>
+  <xacro:table name="eating_table" parent="kitchen" block_pos="-1.7 -2.1 0" block_rpy="0 0 1.57" material="KitchenWhite"/>
+  <xacro:chair name="eating_1" parent="kitchen" xyz="-1.35 -1.2 0" rpy="0 0 1.57"/>
+  <xacro:chair name="eating_2" parent="kitchen" xyz="-1.35 -1.8 0" rpy="0 0 1.57"/>
+  <xacro:chair name="eating_3" parent="kitchen" xyz="-2.65 -0.75 0" rpy="0 0 -1.57"/>
+  <xacro:chair name="eating_4" parent="kitchen" xyz="-2.65 -1.35 0" rpy="0 0 -1.57"/>
   
   
   <joint name="tempLink" type="fixed">
@@ -261,39 +187,39 @@
   <!--            -->
   
  
-  <table name="work1" parent="room" block_pos="-4.05 -0.15 0" block_rpy="0 0 0" material="LightBrown2"/>
-  <table name="work2" parent="room" block_pos="-2.44 -0.15 0" block_rpy="0 0 0" material="LightBrown2"/>
-  <table name="work3" parent="room" block_pos="-0.83 -0.15 0" block_rpy="0 0 0" material="LightBrown2"/>
-  <table name="work4" parent="room" block_pos="0.77 -1.71 0" block_rpy="0 0 1.57" material="LightBrown2"/>
+  <xacro:table name="work1" parent="room" block_pos="-4.05 -0.15 0" block_rpy="0 0 0" material="LightBrown2"/>
+  <xacro:table name="work2" parent="room" block_pos="-2.44 -0.15 0" block_rpy="0 0 0" material="LightBrown2"/>
+  <xacro:table name="work3" parent="room" block_pos="-0.83 -0.15 0" block_rpy="0 0 0" material="LightBrown2"/>
+  <xacro:table name="work4" parent="room" block_pos="0.77 -1.71 0" block_rpy="0 0 1.57" material="LightBrown2"/>
 
   
-  <chair name="work1_1" parent="room" xyz="-2.75 0.7 0" rpy="0 0 3.1415"/>
-  <chair name="work1_2" parent="room" xyz="-3.35 0.7 0" rpy="0 0 3.1415"/>
-  <chair name="work2_1" parent="room" xyz="-1.14 0.7 0" rpy="0 0 3.1415"/>
-  <chair name="work2_2" parent="room" xyz="-1.74 0.7 0" rpy="0 0 3.1415"/>
-  <chair name="work3_1" parent="room" xyz="0.47 0.7 0" rpy="0 0 3.1415"/>
-  <chair name="work3_2" parent="room" xyz="-0.13 0.7 0" rpy="0 0 3.1415"/>
-  <chair name="work4_1" parent="room" xyz="0.93 -1.35 0" rpy="0 0 1.57"/>
-  <chair name="work4_2" parent="room" xyz="0.93 -0.7 0" rpy="0 0 1.57"/>
+  <xacro:chair name="work1_1" parent="room" xyz="-2.75 0.7 0" rpy="0 0 3.1415"/>
+  <xacro:chair name="work1_2" parent="room" xyz="-3.35 0.7 0" rpy="0 0 3.1415"/>
+  <xacro:chair name="work2_1" parent="room" xyz="-1.14 0.7 0" rpy="0 0 3.1415"/>
+  <xacro:chair name="work2_2" parent="room" xyz="-1.74 0.7 0" rpy="0 0 3.1415"/>
+  <xacro:chair name="work3_1" parent="room" xyz="0.47 0.7 0" rpy="0 0 3.1415"/>
+  <xacro:chair name="work3_2" parent="room" xyz="-0.13 0.7 0" rpy="0 0 3.1415"/>
+  <xacro:chair name="work4_1" parent="room" xyz="0.93 -1.35 0" rpy="0 0 1.57"/>
+  <xacro:chair name="work4_2" parent="room" xyz="0.93 -0.7 0" rpy="0 0 1.57"/>
   
   <!--             -->
   <!-- cnc bereich -->
   <!--             -->
   
   
-  <shopping_block name="cnc_shopping_block" parent="room" block_pos="1 5 0" block_rpy="0 0 -1.57"/>
-  <cnc name="cnc" parent="room" xyz="2.7 4 0" rpy="0 0 -1.57"/>
+  <xacro:shopping_block name="cnc_shopping_block" parent="room" block_pos="1 5 0" block_rpy="0 0 -1.57"/>
+  <xacro:cnc name="cnc" parent="room" xyz="2.7 4 0" rpy="0 0 -1.57"/>
   
   <!--            -->
   <!-- bio lab    -->
   <!--            -->
   
-  <table name="bio1" parent="room" block_pos="-1.48 4.2 0" block_rpy="0 0 0" material="KitchenWhite"/>
-  <table name="bio2" parent="room" block_pos="-3.1 4.2 0" block_rpy="0 0 0" material="KitchenWhite"/>
-  <table name="bio3" parent="room" block_pos="-4.72 4.2 0" block_rpy="0 0 0" material="KitchenWhite"/>
+  <xacro:table name="bio1" parent="room" block_pos="-1.48 4.2 0" block_rpy="0 0 0" material="KitchenWhite"/>
+  <xacro:table name="bio2" parent="room" block_pos="-3.1 4.2 0" block_rpy="0 0 0" material="KitchenWhite"/>
+  <xacro:table name="bio3" parent="room" block_pos="-4.72 4.2 0" block_rpy="0 0 0" material="KitchenWhite"/>
   
-  <test_glasses name="glasses1" parent="room" xyz="-2.1 4.5 0.73" rpy="0 0 1.57"/>
-  <glasses name="glasses2" parent="room" xyz="-1.1 4.3 0.73" rpy="0 0 0"/>
+  <xacro:test_glasses name="glasses1" parent="room" xyz="-2.1 4.5 0.73" rpy="0 0 1.57"/>
+  <xacro:glasses name="glasses2" parent="room" xyz="-1.1 4.3 0.73" rpy="0 0 0"/>
   
 </robot>
     
diff --git a/iai_kitchen_defs/room/bio_area.urdf.xml b/iai_kitchen_defs/room/bio_area.urdf.xml
index b97bffc..34ec8ac 100644
--- a/iai_kitchen_defs/room/bio_area.urdf.xml
+++ b/iai_kitchen_defs/room/bio_area.urdf.xml
@@ -2,20 +2,20 @@
 <robot name="bio_area" xmlns:xacro="http://www.ros.org/wiki/xacro">
   
   <xacro:include filename="$(find iai_kitchen_defs)/defs/util_defs.xml"/>  
-  <xacro:include filename="$(find iai_kitchen_defs)/Media/models/test_glasses.urdf"/>
-  <xacro:include filename="$(find iai_kitchen_defs)/Media/models/glasses.urdf"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/Media/models/test_glasses.urdf.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/Media/models/glasses.urdf.xml"/>
   <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/table.xml"/>
 
   
   <link name="bio_area_link">
-    <sphere_inertia radius="0.001" mass="0"/>
+    <xacro:sphere_inertia radius="0.001" mass="0"/>
   </link>
 
-  <table name="bio1" parent="bio_area" block_pos="-1.48 4.2 0" block_rpy="0 0 0" material="KitchenWhite"/>
-  <table name="bio2" parent="bio_area" block_pos="-3.1 4.2 0" block_rpy="0 0 0" material="KitchenWhite"/>
-  <table name="bio3" parent="bio_area" block_pos="-4.72 4.2 0" block_rpy="0 0 0" material="KitchenWhite"/>
+  <xacro:table name="bio1" parent="bio_area" block_pos="-1.48 4.2 0" block_rpy="0 0 0" material="KitchenWhite"/>
+  <xacro:table name="bio2" parent="bio_area" block_pos="-3.1 4.2 0" block_rpy="0 0 0" material="KitchenWhite"/>
+  <xacro:table name="bio3" parent="bio_area" block_pos="-4.72 4.2 0" block_rpy="0 0 0" material="KitchenWhite"/>
   
-  <test_glasses name="glasses1" parent="bio_area" xyz="-2.1 4.5 0.73" rpy="0 0 1.57"/>
-  <glasses name="glasses2" parent="bio_area" xyz="-1.1 4.3 0.73" rpy="0 0 0"/>
+  <xacro:test_glasses name="glasses1" parent="bio_area" xyz="-2.1 4.5 0.73" rpy="0 0 1.57"/>
+  <xacro:glasses name="glasses2" parent="bio_area" xyz="-1.1 4.3 0.73" rpy="0 0 0"/>
 
 </robot>
diff --git a/iai_kitchen_defs/room/cnc_area.urdf.xml b/iai_kitchen_defs/room/cnc_area.urdf.xml
index 8a8c7fa..2b8c2fe 100644
--- a/iai_kitchen_defs/room/cnc_area.urdf.xml
+++ b/iai_kitchen_defs/room/cnc_area.urdf.xml
@@ -6,9 +6,9 @@
   <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/furniture_defs.xml"/>
  
   <link name="cnc_area_link">
-    <sphere_inertia radius="0" mass="0"/>
+    <xacro:sphere_inertia radius="0" mass="0"/>
   </link>
 
-  <shopping_block name="cnc_shopping_block" parent="cnc_area" block_pos="0 0 0" block_rpy="0 0 0"/>
+  <xacro:shopping_block name="cnc_shopping_block" parent="cnc_area" block_pos="0 0 0" block_rpy="0 0 0"/>
 
 </robot>
diff --git a/iai_kitchen_defs/room/colorTest.urdf.xml b/iai_kitchen_defs/room/colorTest.urdf.xml
index 4580053..99d3e32 100644
--- a/iai_kitchen_defs/room/colorTest.urdf.xml
+++ b/iai_kitchen_defs/room/colorTest.urdf.xml
@@ -1,50 +1,18 @@
 <?xml version="1.0"?>
 <robot name="room" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
+  <xacro:include filename="$(find iai_kitchen_defs)/defs/util_defs.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/room/lab_macros.xml"/>
 
+  <link name="room_link">
+    <xacro:sphere_inertia radius="0.001" mass="1"/>
+  </link>
 
- <wall name="boden_kitchen" xyz="-2.65 -3.7 1.0005" sxyz="5.3 6.8 0.5" material="Ias/LightBrown2"/>
- <wall name="boden_shop" xyz="1.95 -4 1.0005" sxyz="3.9 6 0.5" material="Ias/LightBrown"/>
- <!--wall name="boden_mech" xyz="1.95 2 1.0005" sxyz="3.9 6 0.5" material="Ground/Red"/>
- <wall name="boden_bio" xyz="-2.65 2.35 1.0005" sxyz="5.3 5.3 0.5" material="Ground/Green"/-->
- 
 
- <link name="room_link">
-   <sphere_inertia radius="0.001" mass="1"/>
- </link>
+  <xacro:wall name="boden_kitchen" parent="room" xyz="-2.65 -3.7 1.0005" sxyz="5.3 6.8 0.5" material="Ias/LightBrown2"/>
+  <xacro:wall name="boden_shop" parent="room" xyz="1.95 -4 1.0005" sxyz="3.9 6 0.5" material="Ias/LightBrown"/>
+  <!--xacro:wall name="boden_mech" xyz="1.95 2 1.0005" sxyz="3.9 6 0.5" material="Ground/Red"/>
+  <xacro:wall name="boden_bio" xyz="-2.65 2.35 1.0005" sxyz="5.3 5.3 0.5" material="Ground/Green"/-->
  
-
- <!-- macro for walls -->
- <macro name="wall" params="name xyz sxyz material">
-   
-   <joint name="${name}_joint" type="fixed">
-     <origin rpy="0 0 0" xyz="${xyz}"/>
-     <parent link="room_link"/>
-     <child link="${name}_link"/>
-   </joint>
-   
-   <link name="${name}_link">
-     <visual>
-       <origin xyz="0 0 0" rpy="0 0 0"/>
-       <geometry>
-         <box size="${sxyz}"/>
-       </geometry>
-     </visual>      
-     <collision>
-       <origin xyz="0 0 0" rpy="0 0 0"/>
-       <geometry>
-         <box size="${sxyz}"/>
-       </geometry> 
-     </collision>
-     <inertial>
-       <mass value="1000" />
-       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
-     </inertial>
-   </link>    
-   <gazebo reference="${name}_link">
-     <static>true</static>
-     <material>${material}</material>
-   </gazebo>
- </macro>
  
 </robot>
\ No newline at end of file
diff --git a/iai_kitchen_defs/room/kitchen_area.urdf.xml b/iai_kitchen_defs/room/kitchen_area.urdf.xml
index 053e1c7..2f7fd23 100644
--- a/iai_kitchen_defs/room/kitchen_area.urdf.xml
+++ b/iai_kitchen_defs/room/kitchen_area.urdf.xml
@@ -14,23 +14,23 @@
   
   <!-- This is the top level joint /tf frame. -->
   <link name="kitchen_link">
-    <!--<sphere_inertia radius="0.001" mass="1"/>-->
+    <!--<xacro:sphere_inertia radius="0.001" mass="1"/>-->
   </link>
   
   <!-- Shelves on top of kitchen counter -->
-  <!--<counter parent="kitchen"
+  <!--<xacro:counter parent="kitchen"
   name="shelf_bottom"
   pos_x="-5.22" pos_y="-5.65" pos_z="0.85"
   roll="0" pitch="0" yaw="0"
   size_x="0.25" size_y="0.38" size_z="0.025"
   />
-  <counter parent="kitchen"
+  <xacro:counter parent="kitchen"
   name="shelf_center"
   pos_x="-5.22" pos_y="-5.65" pos_z="1.15"
   roll="0" pitch="0" yaw="0"
   size_x="0.21" size_y="0.38" size_z="0.025"
   />
-  <counter parent="kitchen"
+  <xacro:counter parent="kitchen"
   name="shelf_top"
   pos_x="-5.22" pos_y="-5.65" pos_z="1.48"
   roll="0" pitch="0" yaw="0"
@@ -38,23 +38,23 @@
   />-->
 
   <!-- Finally, the 5 main blocks of the kitchen -->
-  <island_block block_pos="-2.1 -4.94 0" block_rpy="0 0 3.141"/>
+  <xacro:island_block block_pos="-2.1 -4.94 0" block_rpy="0 0 3.141"/>
   
-  <oven_block block_pos="-5.27 -6.85 0" block_rpy="0 0 0"/>
+  <xacro:oven_block block_pos="-5.27 -6.85 0" block_rpy="0 0 0"/>
   
-  <sink_block block_pos="-5.29 -5.65 0" block_rpy="0 0 0"/>
+  <xacro:sink_block block_pos="-5.29 -5.65 0" block_rpy="0 0 0"/>
   
-  <fridge_block block_pos="-5.29 -3.59 0" block_rpy="0 0 0"/>
+  <xacro:fridge_block block_pos="-5.29 -3.59 0" block_rpy="0 0 0"/>
   
-  <table name="pancake_table" parent="kitchen" block_pos="-2.1 -4.77 0.0" block_rpy="0 0 1.57" material="KitchenWhite" />
+  <xacro:table name="pancake_table" parent="kitchen" block_pos="-2.1 -4.77 0.0" block_rpy="0 0 1.57" material="KitchenWhite" />
   
   
-  <!--<table name="eating_table" parent="kitchen" block_pos="-1.7 -2.1 0" block_rpy="0 0 1.57" material="KitchenWhite"/>-->
+  <!--<xacro:table name="eating_table" parent="kitchen" block_pos="-1.7 -2.1 0" block_rpy="0 0 1.57" material="KitchenWhite"/>-->
     
-<!--    <chair name="eating_1" parent="kitchen" xyz="-1.35 -1.2 0" rpy="0 0 1.57"/>
-    <chair name="eating_2" parent="kitchen" xyz="-1.35 -1.8 0" rpy="0 0 1.57"/>
-    <chair name="eating_3" parent="kitchen" xyz="-2.65 -0.75 0" rpy="0 0 -1.57"/>
-    <chair name="eating_4" parent="kitchen" xyz="-2.65 -1.35 0" rpy="0 0 -1.57"/>-->
+<!--    <xacro:chair name="eating_1" parent="kitchen" xyz="-1.35 -1.2 0" rpy="0 0 1.57"/>
+    <xacro:chair name="eating_2" parent="kitchen" xyz="-1.35 -1.8 0" rpy="0 0 1.57"/>
+    <xacro:chair name="eating_3" parent="kitchen" xyz="-2.65 -0.75 0" rpy="0 0 -1.57"/>
+    <xacro:chair name="eating_4" parent="kitchen" xyz="-2.65 -1.35 0" rpy="0 0 -1.57"/>-->
   
 
 </robot>
diff --git a/iai_kitchen_defs/room/lab_macros.xml b/iai_kitchen_defs/room/lab_macros.xml
index 0295b1f..779a314 100644
--- a/iai_kitchen_defs/room/lab_macros.xml
+++ b/iai_kitchen_defs/room/lab_macros.xml
@@ -2,7 +2,7 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <!-- macro for walls -->
-  <macro name="wall" params="name parent xyz sxyz material">
+  <xacro:macro name="wall" params="name parent xyz sxyz material">
     
     <joint name="${name}_joint" type="fixed">
       <origin rpy="0 0 0" xyz="${xyz}"/>
@@ -32,11 +32,11 @@
       <static>true</static>
       <material>${material}</material>
     </gazebo>
-  </macro>
+  </xacro:macro>
   
   
   <!-- macro for pillars -->
-  <macro name="pillar" params="name parent xyz radius length">
+  <xacro:macro name="pillar" params="name parent xyz radius length">
     
     <joint name="${name}_joint" type="fixed">
       <origin rpy="0 0 0" xyz="${xyz}"/>
@@ -65,6 +65,6 @@
     <gazebo reference="${name}_link">
       <static>true</static>
     </gazebo>
-  </macro>
+  </xacro:macro>
   
 </robot>
\ No newline at end of file
diff --git a/iai_kitchen_defs/room/room.urdf.xml b/iai_kitchen_defs/room/room.urdf.xml
index c4dd0e2..945779a 100644
--- a/iai_kitchen_defs/room/room.urdf.xml
+++ b/iai_kitchen_defs/room/room.urdf.xml
@@ -10,87 +10,87 @@
 
   
   <link name="room_link">
-    <!--<sphere_inertia radius="0.001" mass="1"/>-->
+    <!--<xacro:sphere_inertia radius="0.001" mass="1"/>-->
   </link>
   
   <!-- west wall -->
   
-  <wall name="w_wall_right" parent="room" xyz="2.785 4.99 1.25" sxyz="0.54 0.1 2.5" material="Gazebo/White"/>
-  <wall name="w_wall_right_window" parent="room" xyz="1.415 4.99 0.2925" sxyz="2.2 0.1 0.585" material="Gazebo/White"/>
-  <wall name="w_window_right" parent="room" xyz="1.415 4.99 1.5425" sxyz="2.2 0.1 1.915" material="Gazebo/BlueTransparent"/>
-  <wall name="w_wall_center" parent="room" xyz="0.025 4.99 1.25" sxyz="0.58 0.1 2.5" material="Gazebo/White"/>
-  <wall name="w_wall_center_window" parent="room" xyz="-1.365 4.99 0.2925" sxyz="2.2 0.1 0.585" material="Gazebo/White"/>
-  <wall name="w_window_center" parent="room" xyz="-1.365 4.99 1.5425" sxyz="2.2 0.1 1.915" material="Gazebo/BlueTransparent"/>
-  <wall name="w_wall_left" parent="room" xyz="-3.07025 4.99 1.25" sxyz="1.215 0.1 2.5" material="Custom/acat"/>
-  <wall name="w_wall_left_window" parent="room" xyz="-4.263 4.99 0.075" sxyz="1.175 0.1 0.15" material="Gazebo/White"/>
-  <wall name="w_window_left" parent="room" xyz="-4.263 4.99 1.325" sxyz="1.175 0.1 2.35" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="w_wall_right" parent="room" xyz="2.785 4.99 1.25" sxyz="0.54 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="w_wall_right_window" parent="room" xyz="1.415 4.99 0.2925" sxyz="2.2 0.1 0.585" material="Gazebo/White"/>
+  <xacro:wall name="w_window_right" parent="room" xyz="1.415 4.99 1.5425" sxyz="2.2 0.1 1.915" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="w_wall_center" parent="room" xyz="0.025 4.99 1.25" sxyz="0.58 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="w_wall_center_window" parent="room" xyz="-1.365 4.99 0.2925" sxyz="2.2 0.1 0.585" material="Gazebo/White"/>
+  <xacro:wall name="w_window_center" parent="room" xyz="-1.365 4.99 1.5425" sxyz="2.2 0.1 1.915" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="w_wall_left" parent="room" xyz="-3.07025 4.99 1.25" sxyz="1.215 0.1 2.5" material="Custom/acat"/>
+  <xacro:wall name="w_wall_left_window" parent="room" xyz="-4.263 4.99 0.075" sxyz="1.175 0.1 0.15" material="Gazebo/White"/>
+  <xacro:wall name="w_window_left" parent="room" xyz="-4.263 4.99 1.325" sxyz="1.175 0.1 2.35" material="Gazebo/BlueTransparent"/>
   
   
   <!-- east wall -->
   
-  <wall name="e_wall_right" parent="room" xyz="-5.2605 -7.08 1.25" sxyz="0.21 0.1 2.5" material="Gazebo/White"/>
-  <wall name="e_wall_right_window" parent="room" xyz="-4.0705 -7.08 0.2925" sxyz="2.17 0.1 0.585" material="Gazebo/White"/>
-  <wall name="e_window_right" parent="room" xyz="-4.0705 -7.08 1.5425" sxyz="2.17 0.1 1.915" material="Gazebo/BlueTransparent"/>
-  <wall name="e_wall_center_right" parent="room" xyz="-2.6955 -7.08 1.25" sxyz="0.58 0.1 2.5" material="Custom/robohow"/>
-  <wall name="e_wall_center_window" parent="room" xyz="-1.3205 -7.08 0.2925" sxyz="2.17 0.1 0.585" material="Gazebo/White"/>
-  <wall name="e_window_center" parent="room" xyz="-1.3205 -7.08 1.5425" sxyz="2.17 0.1 1.915" material="Gazebo/BlueTransparent"/>
-  <wall name="e_wall_center_left" parent="room" xyz="0.0545 -7.08 1.25" sxyz="0.58 0.1 2.5" material="Custom/roboearth2"/>
-  <wall name="e_wall_left_window" parent="room" xyz="1.4395 -7.08 0.2925" sxyz="2.19 0.1 0.585" material="Gazebo/White"/>
-  <wall name="e_window_left" parent="room" xyz="1.4395 -7.08 1.5425" sxyz="2.19 0.1 1.915" material="Gazebo/BlueTransparent"/>  
-  <wall name="e_wall_left" parent="room" xyz="2.8 -7.08 1.25" sxyz="0.531 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="e_wall_right" parent="room" xyz="-5.2605 -7.08 1.25" sxyz="0.21 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="e_wall_right_window" parent="room" xyz="-4.0705 -7.08 0.2925" sxyz="2.17 0.1 0.585" material="Gazebo/White"/>
+  <xacro:wall name="e_window_right" parent="room" xyz="-4.0705 -7.08 1.5425" sxyz="2.17 0.1 1.915" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="e_wall_center_right" parent="room" xyz="-2.6955 -7.08 1.25" sxyz="0.58 0.1 2.5" material="Custom/robohow"/>
+  <xacro:wall name="e_wall_center_window" parent="room" xyz="-1.3205 -7.08 0.2925" sxyz="2.17 0.1 0.585" material="Gazebo/White"/>
+  <xacro:wall name="e_window_center" parent="room" xyz="-1.3205 -7.08 1.5425" sxyz="2.17 0.1 1.915" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="e_wall_center_left" parent="room" xyz="0.0545 -7.08 1.25" sxyz="0.58 0.1 2.5" material="Custom/roboearth2"/>
+  <xacro:wall name="e_wall_left_window" parent="room" xyz="1.4395 -7.08 0.2925" sxyz="2.19 0.1 0.585" material="Gazebo/White"/>
+  <xacro:wall name="e_window_left" parent="room" xyz="1.4395 -7.08 1.5425" sxyz="2.19 0.1 1.915" material="Gazebo/BlueTransparent"/>  
+  <xacro:wall name="e_wall_left" parent="room" xyz="2.8 -7.08 1.25" sxyz="0.531 0.1 2.5" material="Gazebo/White"/>
   
   
   <!-- north wall (left room) -->
   
-  <wall name="n_l_wall_right" parent="room" xyz="3.90 -0.055 1.25" sxyz="0.1 0.94 2.5" material="Custom/logos"/>
-  <wall name="n_l_wall_center_window" parent="room" xyz="3.90 1.705 0.075" sxyz="0.1 2.58 0.15" material="Gazebo/White"/>
-  <wall name="n_l_window_center" parent="room" xyz="3.90 1.705 1.325" sxyz="0.1 2.58 2.35" material="Gazebo/BlueTransparent"/>
-  <wall name="n_l_wall_left" parent="room" xyz="3.90 3.57 1.25" sxyz="0.1 1.15 2.5" material="Custom/saphari"/>
+  <xacro:wall name="n_l_wall_right" parent="room" xyz="3.90 -0.055 1.25" sxyz="0.1 0.94 2.5" material="Custom/logos"/>
+  <xacro:wall name="n_l_wall_center_window" parent="room" xyz="3.90 1.705 0.075" sxyz="0.1 2.58 0.15" material="Gazebo/White"/>
+  <xacro:wall name="n_l_window_center" parent="room" xyz="3.90 1.705 1.325" sxyz="0.1 2.58 2.35" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="n_l_wall_left" parent="room" xyz="3.90 3.57 1.25" sxyz="0.1 1.15 2.5" material="Custom/saphari"/>
   
   
   <!-- north wall (right room) -->
   
-  <wall name="n_r_wall_right" parent="room" xyz="3.90 -3.985 1.25" sxyz="0.1 4.5 2.5" material="Custom/unihb_tum"/>
-  <wall name="n_r_wall_center_window" parent="room" xyz="3.90 -1.13 0.075" sxyz="0.1 1.21 0.15" material="Gazebo/White"/>
-  <wall name="n_r_window_center" parent="room" xyz="3.90 -1.13 1.325" sxyz="0.1 1.21 2.35" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="n_r_wall_right" parent="room" xyz="3.90 -3.985 1.25" sxyz="0.1 4.5 2.5" material="Custom/unihb_tum"/>
+  <xacro:wall name="n_r_wall_center_window" parent="room" xyz="3.90 -1.13 0.075" sxyz="0.1 1.21 0.15" material="Gazebo/White"/>
+  <xacro:wall name="n_r_window_center" parent="room" xyz="3.90 -1.13 1.325" sxyz="0.1 1.21 2.35" material="Gazebo/BlueTransparent"/>
 
   
   <!-- south wall (left room) -->
   
-  <wall name="s_l_wall_right" parent="room" xyz="-4.9005 4.13 1.25" sxyz="0.1 1.82 2.5" material="Gazebo/White"/>
-  <wall name="s_l_wall_v_right" parent="room" xyz="-5.1655 3.27 1.25" sxyz="0.43 0.1 2.5" material="Gazebo/White"/>
-  <wall name="s_l_wall_door_right" parent="room" xyz="-5.3305 3.08 1.25" sxyz="0.1 0.28 2.5" material="Gazebo/White"/>
-  <wall name="s_l_wall_door_left" parent="room" xyz="-5.3305 1.74 1.25" sxyz="0.1 0.28 2.5" material="Gazebo/White"/>
-  <wall name="s_l_wall_v_left" parent="room" xyz="-4.8655 1.55 1.25" sxyz="1.0 0.1 2.5" material="Gazebo/White"/>  
-  <wall name="s_l_wall_left" parent="room" xyz="-4.3155 0.545 1.25" sxyz="0.1 2.11 2.5" material="Gazebo/White"/>
+  <xacro:wall name="s_l_wall_right" parent="room" xyz="-4.9005 4.13 1.25" sxyz="0.1 1.82 2.5" material="Gazebo/White"/>
+  <xacro:wall name="s_l_wall_v_right" parent="room" xyz="-5.1655 3.27 1.25" sxyz="0.43 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="s_l_wall_door_right" parent="room" xyz="-5.3305 3.08 1.25" sxyz="0.1 0.28 2.5" material="Gazebo/White"/>
+  <xacro:wall name="s_l_wall_door_left" parent="room" xyz="-5.3305 1.74 1.25" sxyz="0.1 0.28 2.5" material="Gazebo/White"/>
+  <xacro:wall name="s_l_wall_v_left" parent="room" xyz="-4.8655 1.55 1.25" sxyz="1.0 0.1 2.5" material="Gazebo/White"/>  
+  <xacro:wall name="s_l_wall_left" parent="room" xyz="-4.3155 0.545 1.25" sxyz="0.1 2.11 2.5" material="Gazebo/White"/>
   
 
   <!-- south wall (right room) -->
   
-  <wall name="wall_door_left" parent="room" xyz="-4.3155 -1.9 1.25" sxyz="0.1 0.42 2.5" material="Gazebo/White"/>
-  <wall name="wall_v" parent="room" xyz="-4.8655 -2.06 1.25" sxyz="1.0 0.1 2.5" material="Gazebo/White"/>
-  <wall name="wall_left" parent="room" xyz="-5.3155 -4.57 1.25" sxyz="0.1 4.92 2.5" material="Gazebo/White"/>
+  <xacro:wall name="wall_door_left" parent="room" xyz="-4.3155 -1.9 1.25" sxyz="0.1 0.42 2.5" material="Gazebo/White"/>
+  <xacro:wall name="wall_v" parent="room" xyz="-4.8655 -2.06 1.25" sxyz="1.0 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="wall_left" parent="room" xyz="-5.3155 -4.57 1.25" sxyz="0.1 4.92 2.5" material="Gazebo/White"/>
   
   
   <!-- pillars -->
   
-  <pillar name="small_pillar" parent="room" xyz="0 -0.3 1.25" radius="0.15" length="2.5" />
-  <pillar name="large_pillar_1" parent="room" xyz="3.85 -7.03 1.25" radius="0.795" length="2.5" />
-  <pillar name="large_pillar_2" parent="room" xyz="3.85 4.94 1.25" radius="0.795" length="2.5" />
+  <xacro:pillar name="small_pillar" parent="room" xyz="0 -0.3 1.25" radius="0.15" length="2.5" />
+  <xacro:pillar name="large_pillar_1" parent="room" xyz="3.85 -7.03 1.25" radius="0.795" length="2.5" />
+  <xacro:pillar name="large_pillar_2" parent="room" xyz="3.85 4.94 1.25" radius="0.795" length="2.5" />
   
   
   <!-- partition walls -->
   
-  <wall name="partition_wall_work1" parent="room" xyz="-1.06 -2.04 0.37" sxyz="4.81 0.01 0.74" material="Gazebo/White"/>
-  <!--<wall name="partition_wall_work2" parent="room" xyz="0 -1 0.5" sxyz="0.1 1.5 1" material="Gazebo/White"/>-->
-  <wall name="partition_wall_shop" parent="room" xyz="1.35 -5.05 0.37" sxyz="0.01 4.05 0.74" material="Gazebo/White"/>
+  <xacro:wall name="partition_wall_work1" parent="room" xyz="-1.06 -2.04 0.37" sxyz="4.81 0.01 0.74" material="Gazebo/White"/>
+  <!--<xacro:wall name="partition_wall_work2" parent="room" xyz="0 -1 0.5" sxyz="0.1 1.5 1" material="Gazebo/White"/>-->
+  <xacro:wall name="partition_wall_shop" parent="room" xyz="1.35 -5.05 0.37" sxyz="0.01 4.05 0.74" material="Gazebo/White"/>
  
   
   <!-- ground -->
   
-<!--  <wall name="ground_kitchen" parent="room" xyz="-2.65 -3.7 0.005" sxyz="5.3 6.8 00.01" material="Ground/Blue"/>
-  <wall name="ground_shop" parent="room" xyz="1.95 -4 0.005" sxyz="3.9 6 00.01" material="Ground/Yellow"/>
-  <wall name="ground_mech" parent="room" xyz="1.95 2 0.005" sxyz="3.9 6 00.01" material="Ground/Red"/>
-  <wall name="ground_bio" parent="room" xyz="-2.65 2.35 0.005" sxyz="5.3 5.3 00.01" material="Ground/Green"/>  -->
+<!--  <xacro:wall name="ground_kitchen" parent="room" xyz="-2.65 -3.7 0.005" sxyz="5.3 6.8 00.01" material="Ground/Blue"/>
+  <xacro:wall name="ground_shop" parent="room" xyz="1.95 -4 0.005" sxyz="3.9 6 00.01" material="Ground/Yellow"/>
+  <xacro:wall name="ground_mech" parent="room" xyz="1.95 2 0.005" sxyz="3.9 6 00.01" material="Ground/Red"/>
+  <xacro:wall name="ground_bio" parent="room" xyz="-2.65 2.35 0.005" sxyz="5.3 5.3 00.01" material="Ground/Green"/>  -->
   
 </robot>
diff --git a/iai_kitchen_defs/room/shopping_area.urdf.xml b/iai_kitchen_defs/room/shopping_area.urdf.xml
index 3ccd5f1..e782083 100644
--- a/iai_kitchen_defs/room/shopping_area.urdf.xml
+++ b/iai_kitchen_defs/room/shopping_area.urdf.xml
@@ -10,18 +10,18 @@
   
   
   <link name="shopping_area_link">
-    <sphere_inertia radius="0.001" mass="1"/>
+    <xacro:sphere_inertia radius="0.001" mass="1"/>
   </link>
   
-  <shopping_block name="left_shopping_block" parent="shopping_area" block_pos="3.8 -4.1 0" block_rpy="0 0 3.141"/>
+  <xacro:shopping_block name="left_shopping_block" parent="shopping_area" block_pos="3.8 -4.1 0" block_rpy="0 0 3.141"/>
 <!--  
   <wine_cooler name="cooler" parent="shopping_area" xyz="3.0 -5.5 0" rpy="0 0 3.9265"/>    
   -->
-  <shopping_block name="right_shopping_block" parent="shopping_area" block_pos="2.2 -6.97 0" block_rpy="0 0 1.57"/>   
+  <xacro:shopping_block name="right_shopping_block" parent="shopping_area" block_pos="2.2 -6.97 0" block_rpy="0 0 1.57"/>   
   
-  <table name="cash_table_1" parent="shopping_area" block_pos="1.52 -5 0" block_rpy="0 0 1.57" material="KitchenWhite"/>
+  <xacro:table name="cash_table_1" parent="shopping_area" block_pos="1.52 -5 0" block_rpy="0 0 1.57" material="KitchenWhite"/>
   
-  <small_table name="cash_table_2" parent="shopping_area" block_pos="0.9 -5 0" block_rpy="0 0 1.57" material="KitchenWhite"/>    
+  <xacro:small_table name="cash_table_2" parent="shopping_area" block_pos="0.9 -5 0" block_rpy="0 0 1.57" material="KitchenWhite"/>    
 <!--  
   <cash_register name="cash" parent="shopping_area" xyz="0.5 -4.4 0.73" rpy="0 0 3.1415"/>
   -->
diff --git a/iai_kitchen_defs/room/test.urdf.xml b/iai_kitchen_defs/room/test.urdf.xml
index 575da05..5007f12 100644
--- a/iai_kitchen_defs/room/test.urdf.xml
+++ b/iai_kitchen_defs/room/test.urdf.xml
@@ -2,6 +2,7 @@
 <robot name="room" xmlns:xacro="http://www.ros.org/wiki/xacro">
   
   <xacro:include filename="$(find iai_kitchen_defs)/defs/util_defs.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/room/lab_macros.xml"/>
   <xacro:include filename="$(find iai_kitchen_defs)/Media/models/cash_register.urdf.xml"/>
   <xacro:include filename="$(find iai_kitchen_defs)/Media/models/chair.urdf.xml"/>
   <xacro:include filename="$(find iai_kitchen_defs)/Media/models/cnc.urdf.xml"/>
@@ -9,192 +10,113 @@
   <xacro:include filename="$(find iai_kitchen_defs)/Media/models/glasses.urdf.xml"/>
   <xacro:include filename="$(find iai_kitchen_defs)/Media/models/wine_cooler.urdf.xml"/>
   
-  
+  <link name="room_link">
+    <xacro:sphere_inertia radius="0.001" mass="1"/>
+  </link>
+
   <!-- west wall -->
   
-  <wall name="w_wall_right" xyz="2.785 4.99 1.25" sxyz="0.54 0.1 2.5" material="Gazebo/White"/>
-  <wall name="w_wall_right_window" xyz="1.415 4.99 0.2925" sxyz="2.2 0.1 0.585" material="Gazebo/White"/>
-  <wall name="w_window_right" xyz="1.415 4.99 1.5425" sxyz="2.2 0.1 1.915" material="Gazebo/BlueTransparent"/>
-  <wall name="w_wall_center" xyz="0.025 4.99 1.25" sxyz="0.58 0.1 2.5" material="Gazebo/White"/>
-  <wall name="w_wall_center_window" xyz="-1.365 4.99 0.2925" sxyz="2.2 0.1 0.585" material="Gazebo/White"/>
-  <wall name="w_window_center" xyz="-1.365 4.99 1.5425" sxyz="2.2 0.1 1.915" material="Gazebo/BlueTransparent"/>
-  <wall name="w_wall_left" xyz="-3.07025 4.99 1.25" sxyz="1.215 0.1 2.5" material="Custom/acat"/>
-  <wall name="w_wall_left_window" xyz="-4.263 4.99 0.075" sxyz="1.175 0.1 0.15" material="Gazebo/White"/>
-  <wall name="w_window_left" xyz="-4.263 4.99 1.325" sxyz="1.175 0.1 2.35" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="w_wall_right" parent="room" xyz="2.785 4.99 1.25" sxyz="0.54 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="w_wall_right_window" parent="room" xyz="1.415 4.99 0.2925" sxyz="2.2 0.1 0.585" material="Gazebo/White"/>
+  <xacro:wall name="w_window_right" parent="room" xyz="1.415 4.99 1.5425" sxyz="2.2 0.1 1.915" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="w_wall_center" parent="room" xyz="0.025 4.99 1.25" sxyz="0.58 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="w_wall_center_window" parent="room" xyz="-1.365 4.99 0.2925" sxyz="2.2 0.1 0.585" material="Gazebo/White"/>
+  <xacro:wall name="w_window_center" parent="room" xyz="-1.365 4.99 1.5425" sxyz="2.2 0.1 1.915" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="w_wall_left" parent="room" xyz="-3.07025 4.99 1.25" sxyz="1.215 0.1 2.5" material="Custom/acat"/>
+  <xacro:wall name="w_wall_left_window" parent="room" xyz="-4.263 4.99 0.075" sxyz="1.175 0.1 0.15" material="Gazebo/White"/>
+  <xacro:wall name="w_window_left" parent="room" xyz="-4.263 4.99 1.325" sxyz="1.175 0.1 2.35" material="Gazebo/BlueTransparent"/>
   
   
   <!-- east wall -->
   
-  <wall name="e_wall_right" xyz="-5.2605 -7.08 1.25" sxyz="0.21 0.1 2.5" material="Gazebo/White"/>
-  <wall name="e_wall_right_window" xyz="-4.0705 -7.08 0.2925" sxyz="2.17 0.1 0.585" material="Gazebo/White"/>
-  <wall name="e_window_right" xyz="-4.0705 -7.08 1.5425" sxyz="2.17 0.1 1.915" material="Gazebo/BlueTransparent"/>
-  <wall name="e_wall_center_right" xyz="-2.6955 -7.08 1.25" sxyz="0.58 0.1 2.5" material="Custom/robohow"/>
-  <wall name="e_wall_center_window" xyz="-1.3205 -7.08 0.2925" sxyz="2.17 0.1 0.585" material="Gazebo/White"/>
-  <wall name="e_window_center" xyz="-1.3205 -7.08 1.5425" sxyz="2.17 0.1 1.915" material="Gazebo/BlueTransparent"/>
-  <wall name="e_wall_center_left" xyz="0.0545 -7.08 1.25" sxyz="0.58 0.1 2.5" material="Custom/roboearth2"/>
-  <wall name="e_wall_left_window" xyz="1.4395 -7.08 0.2925" sxyz="2.19 0.1 0.585" material="Gazebo/White"/>
-  <wall name="e_window_left" xyz="1.4395 -7.08 1.5425" sxyz="2.19 0.1 1.915" material="Gazebo/BlueTransparent"/>  
-  <wall name="e_wall_left" xyz="2.8 -7.08 1.25" sxyz="0.531 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="e_wall_right" parent="room" xyz="-5.2605 -7.08 1.25" sxyz="0.21 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="e_wall_right_window" parent="room" xyz="-4.0705 -7.08 0.2925" sxyz="2.17 0.1 0.585" material="Gazebo/White"/>
+  <xacro:wall name="e_window_right" parent="room" xyz="-4.0705 -7.08 1.5425" sxyz="2.17 0.1 1.915" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="e_wall_center_right" parent="room" xyz="-2.6955 -7.08 1.25" sxyz="0.58 0.1 2.5" material="Custom/robohow"/>
+  <xacro:wall name="e_wall_center_window" parent="room" xyz="-1.3205 -7.08 0.2925" sxyz="2.17 0.1 0.585" material="Gazebo/White"/>
+  <xacro:wall name="e_window_center" parent="room" xyz="-1.3205 -7.08 1.5425" sxyz="2.17 0.1 1.915" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="e_wall_center_left" parent="room" xyz="0.0545 -7.08 1.25" sxyz="0.58 0.1 2.5" material="Custom/roboearth2"/>
+  <xacro:wall name="e_wall_left_window" parent="room" xyz="1.4395 -7.08 0.2925" sxyz="2.19 0.1 0.585" material="Gazebo/White"/>
+  <xacro:wall name="e_window_left" parent="room" xyz="1.4395 -7.08 1.5425" sxyz="2.19 0.1 1.915" material="Gazebo/BlueTransparent"/>  
+  <xacro:wall name="e_wall_left" parent="room" xyz="2.8 -7.08 1.25" sxyz="0.531 0.1 2.5" material="Gazebo/White"/>
   
   
   <!-- north wall (left room) -->
   
-  <wall name="n_l_wall_right" xyz="3.90 -0.055 1.25" sxyz="0.1 0.94 2.5" material="Custom/logos"/>
-  <wall name="n_l_wall_center_window" xyz="3.90 1.705 0.075" sxyz="0.1 2.58 0.15" material="Gazebo/White"/>
-  <wall name="n_l_window_center" xyz="3.90 1.705 1.325" sxyz="0.1 2.58 2.35" material="Gazebo/BlueTransparent"/>
-  <wall name="n_l_wall_left" xyz="3.90 3.57 1.25" sxyz="0.1 1.15 2.5" material="Custom/saphari"/>
+  <xacro:wall name="n_l_wall_right" parent="room" xyz="3.90 -0.055 1.25" sxyz="0.1 0.94 2.5" material="Custom/logos"/>
+  <xacro:wall name="n_l_wall_center_window" parent="room" xyz="3.90 1.705 0.075" sxyz="0.1 2.58 0.15" material="Gazebo/White"/>
+  <xacro:wall name="n_l_window_center" parent="room" xyz="3.90 1.705 1.325" sxyz="0.1 2.58 2.35" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="n_l_wall_left" parent="room" xyz="3.90 3.57 1.25" sxyz="0.1 1.15 2.5" material="Custom/saphari"/>
   
   
   
   <!-- north wall (right room) -->
   
-  <wall name="n_r_wall_right" xyz="3.90 -3.985 1.25" sxyz="0.1 4.5 2.5" material="Custom/unihb_tum"/>
-  <wall name="n_r_wall_center_window" xyz="3.90 -1.13 0.075" sxyz="0.1 1.21 0.15" material="Gazebo/White"/>
-  <wall name="n_r_window_center" xyz="3.90 -1.13 1.325" sxyz="0.1 1.21 2.35" material="Gazebo/BlueTransparent"/>
+  <xacro:wall name="n_r_wall_right" parent="room" xyz="3.90 -3.985 1.25" sxyz="0.1 4.5 2.5" material="Custom/unihb_tum"/>
+  <xacro:wall name="n_r_wall_center_window" parent="room" xyz="3.90 -1.13 0.075" sxyz="0.1 1.21 0.15" material="Gazebo/White"/>
+  <xacro:wall name="n_r_window_center" parent="room" xyz="3.90 -1.13 1.325" sxyz="0.1 1.21 2.35" material="Gazebo/BlueTransparent"/>
 
   
   
   <!-- south wall (left room) -->
   
-  <wall name="s_l_wall_right" xyz="-4.9005 4.13 1.25" sxyz="0.1 1.82 2.5" material="Gazebo/White"/>
-  <wall name="s_l_wall_v_right" xyz="-5.1655 3.27 1.25" sxyz="0.43 0.1 2.5" material="Gazebo/White"/>
-  <wall name="s_l_wall_door_right" xyz="-5.3305 3.08 1.25" sxyz="0.1 0.28 2.5" material="Gazebo/White"/>
-  <wall name="s_l_wall_door_left" xyz="-5.3305 1.74 1.25" sxyz="0.1 0.28 2.5" material="Gazebo/White"/>
-  <wall name="s_l_wall_v_left" xyz="-4.8655 1.55 1.25" sxyz="1.0 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="s_l_wall_right" parent="room" xyz="-4.9005 4.13 1.25" sxyz="0.1 1.82 2.5" material="Gazebo/White"/>
+  <xacro:wall name="s_l_wall_v_right" parent="room" xyz="-5.1655 3.27 1.25" sxyz="0.43 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="s_l_wall_door_right" parent="room" xyz="-5.3305 3.08 1.25" sxyz="0.1 0.28 2.5" material="Gazebo/White"/>
+  <xacro:wall name="s_l_wall_door_left" parent="room" xyz="-5.3305 1.74 1.25" sxyz="0.1 0.28 2.5" material="Gazebo/White"/>
+  <xacro:wall name="s_l_wall_v_left" parent="room" xyz="-4.8655 1.55 1.25" sxyz="1.0 0.1 2.5" material="Gazebo/White"/>
   
-  <wall name="s_l_wall_left" xyz="-4.3155 0.545 1.25" sxyz="0.1 2.11 2.5" material="Gazebo/White"/>
+  <xacro:wall name="s_l_wall_left" parent="room" xyz="-4.3155 0.545 1.25" sxyz="0.1 2.11 2.5" material="Gazebo/White"/>
 
   <!-- south wall (right room) -->
-  <wall name="wall_door_left" xyz="-4.3155 -1.9 1.25" sxyz="0.1 0.42 2.5" material="Gazebo/White"/>
-  <wall name="wall_v" xyz="-4.8655 -2.06 1.25" sxyz="1.0 0.1 2.5" material="Gazebo/White"/>
-  <wall name="wall_left" xyz="-5.3155 -4.57 1.25" sxyz="0.1 4.92 2.5" material="Gazebo/White"/>
+  <xacro:wall name="wall_door_left" parent="room" xyz="-4.3155 -1.9 1.25" sxyz="0.1 0.42 2.5" material="Gazebo/White"/>
+  <xacro:wall name="wall_v" parent="room" xyz="-4.8655 -2.06 1.25" sxyz="1.0 0.1 2.5" material="Gazebo/White"/>
+  <xacro:wall name="wall_left" parent="room" xyz="-5.3155 -4.57 1.25" sxyz="0.1 4.92 2.5" material="Gazebo/White"/>
   
   
   <!-- pillars -->
   
-  <pillar name="small_pillar" xyz="0 -0.3 1.25" r="0.15" />
-  <pillar name="large_pillar_1" xyz="3.85 -7.03 1.25" r="0.795" />
-  <pillar name="large_pillar_2" xyz="3.85 4.94 1.25" r="0.795" />
+  <xacro:pillar name="small_pillar" parent="room" xyz="0 -0.3 1.25" radius="0.15" length="2.5" />
+  <xacro:pillar name="large_pillar_1" parent="room" xyz="3.85 -7.03 1.25" radius="0.795" length="2.5" />
+  <xacro:pillar name="large_pillar_2" parent="room" xyz="3.85 4.94 1.25" radius="0.795" length="2.5" />
   
   
   <!-- partition walls -->
   
-  <wall name="partition_wall_work1" xyz="-2.1 -0.3 0.5" sxyz="4.4 0.1 1" material="Gazebo/White"/>
-  <wall name="partition_wall_work2" xyz="0 -1 0.5" sxyz="0.1 1.5 1" material="Gazebo/White"/>
+  <xacro:wall name="partition_wall_work1" parent="room" xyz="-2.1 -0.3 0.5" sxyz="4.4 0.1 1" material="Gazebo/White"/>
+  <xacro:wall name="partition_wall_work2" parent="room" xyz="0 -1 0.5" sxyz="0.1 1.5 1" material="Gazebo/White"/>
   
-  <wall name="partition_wall_shop" xyz="-0.25 -5 0.5" sxyz="0.1 4 1" material="Gazebo/White"/>
+  <xacro:wall name="partition_wall_shop" parent="room" xyz="-0.25 -5 0.5" sxyz="0.1 4 1" material="Gazebo/White"/>
  
   
   <!-- ground -->
   
-  <wall name="boden_kitchen" xyz="-2.65 -3.7 0.0005" sxyz="5.3 6.8 00.001" material="Ground/Blue"/>
-  <wall name="boden_shop" xyz="1.95 -4 0.0005" sxyz="3.9 6 00.001" material="Ground/Yellow"/>
-  <wall name="boden_mech" xyz="1.95 2 0.0005" sxyz="3.9 6 00.001" material="Ground/Red"/>
-  <wall name="boden_bio" xyz="-2.65 2.35 0.0005" sxyz="5.3 5.3 00.001" material="Ground/Green"/>
-  
+  <xacro:wall name="boden_kitchen" parent="room" xyz="-2.65 -3.7 0.0005" sxyz="5.3 6.8 00.001" material="Ground/Blue"/>
+  <xacro:wall name="boden_shop" parent="room" xyz="1.95 -4 0.0005" sxyz="3.9 6 00.001" material="Ground/Yellow"/>
+  <xacro:wall name="boden_mech" parent="room" xyz="1.95 2 0.0005" sxyz="3.9 6 00.001" material="Ground/Red"/>
+  <xacro:wall name="boden_bio" parent="room" xyz="-2.65 2.35 0.0005" sxyz="5.3 5.3 00.001" material="Ground/Green"/>
   
   
-  <link name="room_link">
-    <sphere_inertia radius="0.001" mass="1"/>
-  </link>
-  
-  <!-- macro for walls -->
-  <macro name="wall" params="name xyz sxyz material">
-    
-    <joint name="${name}_joint" type="fixed">
-      <origin rpy="0 0 0" xyz="${xyz}"/>
-      <parent link="room_link"/>
-      <child link="${name}_link"/>
-    </joint>
-    
-    <link name="${name}_link">
-      <visual>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <geometry>
-          <box size="${sxyz}"/>
-        </geometry>
-      </visual>      
-      <collision>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <geometry>
-          <box size="${sxyz}"/>
-        </geometry> 
-      </collision>
-      <inertial>
-        <mass value="1000" />
-        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
-      </inertial>
-    </link>    
-    <gazebo reference="${name}_link">
-      <static>true</static>
-      <material>${material}</material>
-    </gazebo>
-  </macro>
-  
-  
-  <!-- macro for pillars -->
-  <macro name="pillar" params="name xyz r">
-    
-    <joint name="${name}_joint" type="fixed">
-      <origin rpy="0 0 0" xyz="${xyz}"/>
-      <parent link="room_link"/>
-      <child link="${name}_link"/>
-    </joint>
-    
-    <link name="${name}_link">  
-      <visual>
-        <geometry>
-          <cylinder length="2.5" radius="${r}"/>
-        </geometry>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-      </visual>
-      <collision>
-        <geometry>
-          <cylinder length="2.5" radius="${r}"/>
-        </geometry>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-      </collision>
-      <inertial>
-        <mass value="1000" />
-        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
-      </inertial>
-    </link>
-    <gazebo reference="${name}_link">
-      <static>true</static>
-    </gazebo>
-  </macro>
-  
   <gazebo>
     <static>true</static>
   </gazebo>
       
       
-      
-      
-      
-  
-  
-  
   <!--         -->
   <!-- Kitchen -->
   <!--         -->
   
   
-  <include filename="$(find iai_maps)/defs/ias_kitchen/furniture_defs.xml"/>
-  <include filename="$(find iai_maps)/defs/ias_kitchen/island_block.xml"/>
-  <include filename="$(find iai_maps)/defs/ias_kitchen/oven_block.xml"/>
-  <include filename="$(find iai_maps)/defs/ias_kitchen/fridge_block.xml"/>
-  <include filename="$(find iai_maps)/defs/ias_kitchen/sink_block.xml"/>
-  <include filename="$(find iai_maps)/defs/ias_kitchen/shopping_block.xml"/>
-  <include filename="$(find iai_maps)/defs/ias_kitchen/table.xml"/>
-  <include filename="$(find iai_maps)/defs/ias_kitchen/small_table.xml"/>
-  <include filename="$(find iai_maps)/defs/ias_kitchen/cuboid.xml"/>
-  
-  
+  <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/furniture_defs.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/island_block.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/oven_block.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/fridge_block.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/sink_block.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/shopping_block.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/table.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/small_table.xml"/>
+  <xacro:include filename="$(find iai_kitchen_defs)/defs/ias_kitchen/cuboid.xml"/>
 
-              
-  
-  
   <!--            -->
   <!-- Worktables -->
   <!--            -->
@@ -212,7 +134,8 @@
   <table name="bio3" parent="room" block_pos="-4.72 4.2 0" block_rpy="0 0 0" material="KitchenWhite"/>-->
   
 <!--  <test_glasses name="glasses1" parent="room" xyz="-2.1 4.5 0.73" rpy="0 0 1.57"/>-->
-  <glasses name="glasses2" parent="room" xyz="-1.1 4.3 0.73" rpy="0 0 0"/>
+
+  <xacro:glasses name="glasses2" parent="room" xyz="-1.1 4.3 0.73" rpy="0 0 0"/>
   
 </robot>
    
diff --git a/iai_kitchen_defs/room/worktables.urdf.xml b/iai_kitchen_defs/room/worktables.urdf.xml
index 6cb204b..3297aa9 100644
--- a/iai_kitchen_defs/room/worktables.urdf.xml
+++ b/iai_kitchen_defs/room/worktables.urdf.xml
@@ -6,23 +6,23 @@
 <!--  <xacro:include filename="$(find iai_maps)/Media/models/chair.urdf.xml"/>-->
 
   <link name="worktables_link">
-    <sphere_inertia radius="0.001" mass="1"/>
+    <xacro:sphere_inertia radius="0.001" mass="1"/>
   </link>
   
-  <table name="work_table_1" parent="worktables" block_pos="-4.05 -0.15 0" block_rpy="0 0 0" material="LightBrown2"/>
-  <table name="work_table_2" parent="worktables" block_pos="-2.44 -0.15 0" block_rpy="0 0 0" material="LightBrown2"/>
-  <table name="work_table_3" parent="worktables" block_pos="-0.83 -0.15 0" block_rpy="0 0 0" material="LightBrown2"/>
-  <table name="work_table_4" parent="worktables" block_pos="0.77 -1.71 0" block_rpy="0 0 1.57" material="LightBrown2"/>
+  <xacro:table name="work_table_1" parent="worktables" block_pos="-4.05 -0.15 0" block_rpy="0 0 0" material="LightBrown2"/>
+  <xacro:table name="work_table_2" parent="worktables" block_pos="-2.44 -0.15 0" block_rpy="0 0 0" material="LightBrown2"/>
+  <xacro:table name="work_table_3" parent="worktables" block_pos="-0.83 -0.15 0" block_rpy="0 0 0" material="LightBrown2"/>
+  <xacro:table name="work_table_4" parent="worktables" block_pos="0.77 -1.71 0" block_rpy="0 0 1.57" material="LightBrown2"/>
 
   <!--
-  <chair name="work_chair_1_1" parent="worktables" xyz="-2.75 0.7 0" rpy="0 0 3.1415"/>
-  <chair name="work_chair_1_2" parent="worktables" xyz="-3.35 0.7 0" rpy="0 0 3.1415"/>
-  <chair name="work_chair_2_1" parent="worktables" xyz="-1.14 0.7 0" rpy="0 0 3.1415"/>
-  <chair name="work_chair_2_2" parent="worktables" xyz="-1.74 0.7 0" rpy="0 0 3.1415"/>
-  <chair name="work_chair_3_1" parent="worktables" xyz="0.47 0.7 0" rpy="0 0 3.1415"/>
-  <chair name="work_chair_3_2" parent="worktables" xyz="-0.13 0.7 0" rpy="0 0 3.1415"/>
-  <chair name="work_chair_4_1" parent="worktables" xyz="0.93 -1.35 0" rpy="0 0 1.57"/>
-  <chair name="work_chair_4_2" parent="worktables" xyz="0.93 -0.7 0" rpy="0 0 1.57"/>
+  <xacro:chair name="work_chair_1_1" parent="worktables" xyz="-2.75 0.7 0" rpy="0 0 3.1415"/>
+  <xacro:chair name="work_chair_1_2" parent="worktables" xyz="-3.35 0.7 0" rpy="0 0 3.1415"/>
+  <xacro:chair name="work_chair_2_1" parent="worktables" xyz="-1.14 0.7 0" rpy="0 0 3.1415"/>
+  <xacro:chair name="work_chair_2_2" parent="worktables" xyz="-1.74 0.7 0" rpy="0 0 3.1415"/>
+  <xacro:chair name="work_chair_3_1" parent="worktables" xyz="0.47 0.7 0" rpy="0 0 3.1415"/>
+  <xacro:chair name="work_chair_3_2" parent="worktables" xyz="-0.13 0.7 0" rpy="0 0 3.1415"/>
+  <xacro:chair name="work_chair_4_1" parent="worktables" xyz="0.93 -1.35 0" rpy="0 0 1.57"/>
+  <xacro:chair name="work_chair_4_2" parent="worktables" xyz="0.93 -0.7 0" rpy="0 0 1.57"/>
   
   -->
   
diff --git a/iai_maps/launch/kitchen_with_state_publisher.launch b/iai_maps/launch/kitchen_with_state_publisher.launch
index 07a0a84..7d66525 100644
--- a/iai_maps/launch/kitchen_with_state_publisher.launch
+++ b/iai_maps/launch/kitchen_with_state_publisher.launch
@@ -1,7 +1,7 @@
 <launch>
 
-  <arg name="model" default="$(find iai_kitchen)/urdf/IAI_kitchen.urdf.xacro"/>
-  <param name="kitchen_description" command="$(find xacro)/xacro.py '$(arg model)'" />
+  <arg name="model" default="$(find iai_kitchen)/urdf/iai_kitchen_python.urdf.xacro"/>
+  <param name="kitchen_description" command="$(find xacro)/xacro '$(arg model)'" />
 
   <node pkg="joint_state_publisher" type="joint_state_publisher"
         name="kitchen_joint_state_publisher" output="screen">
diff --git a/iai_maps/launch/room.launch b/iai_maps/launch/room.launch
index 957d502..27ecd1f 100644
--- a/iai_maps/launch/room.launch
+++ b/iai_maps/launch/room.launch
@@ -1,7 +1,7 @@
 <launch>
  
   <param name="room_description" 
-    command="$(find xacro)/xacro.py '$(find iai_kitchen_defs)/room/room.urdf.xml'"
+    command="$(find xacro)/xacro '$(find iai_kitchen_defs)/room/room.urdf.xml'"
   />  
 
   <node pkg="tf" type="static_transform_publisher" name="room_link_broadcaster"