diff --git a/.github/dependabot.yml b/.github/dependabot.yml
index 203f3c8..4ad7bd5 100644
--- a/.github/dependabot.yml
+++ b/.github/dependabot.yml
@@ -3,4 +3,4 @@ updates:
 - package-ecosystem: "github-actions"
   directory: "/"
   schedule:
-      interval: "weekly"
+      interval: "monthly"
diff --git a/.github/workflows/nix.yml b/.github/workflows/nix.yml
index 9a799d4..edbfe30 100644
--- a/.github/workflows/nix.yml
+++ b/.github/workflows/nix.yml
@@ -17,7 +17,7 @@ jobs:
     runs-on: "${{ matrix.os }}-latest"
     strategy:
       matrix:
-        os: [ubuntu, macos]
+        os: [ubuntu]
     steps:
       - uses: actions/checkout@v5
       - uses: cachix/install-nix-action@v31
@@ -26,6 +26,7 @@ jobs:
           name: gepetto
           authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
       - run: nix flake check -L
+      - run: nix build -L
   check:
     if: always()
     name: check-macos-linux-nix
diff --git a/.github/workflows/update-flake-lock.yml b/.github/workflows/update-flake-lock.yml
index 3c183c9..20d06aa 100644
--- a/.github/workflows/update-flake-lock.yml
+++ b/.github/workflows/update-flake-lock.yml
@@ -6,14 +6,28 @@ on:
     - cron: '0 18 1 * *'
 
 jobs:
-  lockfile:
-    runs-on: ubuntu-latest
+  update-flake-inputs:
+    runs-on: ubuntu-slim
+    permissions:
+      contents: write
+      pull-requests: write
     steps:
+      - name: Generate GitHub App Token
+        id: app-token
+        uses: actions/create-github-app-token@v2
+        with:
+          app-id: ${{ secrets.GEPETTO_NIX_APP_ID }}
+          private-key: ${{ secrets.GEPETTO_NIX_APP_PRIVATE_KEY }}
       - name: Checkout repository
-        uses: actions/checkout@v4
-      - name: Install Nix
-        uses: DeterminateSystems/nix-installer-action@main
-      - name: Update flake.lock
-        uses: DeterminateSystems/update-flake-lock@main
+        uses: actions/checkout@v6
+        with:
+          token: ${{ steps.app-token.outputs.token }}
+      - name: Setup Nix
+        uses: cachix/install-nix-action@v31
+      - name: Update flake inputs
+        uses: mic92/update-flake-inputs@v1
         with:
-          token: ${{ secrets.GH_TOKEN_FOR_UPDATES }}
+          github-token: ${{ steps.app-token.outputs.token }}
+          pr-labels: 'no-changelog'
+          git-author-name: 'hrp2-14'
+          git-author-email: '40568249+hrp2-14@users.noreply.github.com'
diff --git a/.gitmodules b/.gitmodules
deleted file mode 100644
index 2b7a4fe..0000000
--- a/.gitmodules
+++ /dev/null
@@ -1,3 +0,0 @@
-[submodule "cmake"]
-	path = cmake
-	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
diff --git a/.mergify.yml b/.mergify.yml
index 1e2dd5a..8ece7ea 100644
--- a/.mergify.yml
+++ b/.mergify.yml
@@ -5,6 +5,7 @@ pull_request_rules:
       - check-success = "pre-commit.ci - pr"
       - or:
           - author = dependabot[bot]
+          - author = gepetto-flake-updater[bot]
           - author = github-actions[bot]
           - author = hrp2-14
           - author = pre-commit-ci[bot]
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 416f304..3c0cdb0 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,8 +1,8 @@
 ci:
-  autoupdate_branch: devel
+  autoupdate_schedule: quarterly
 repos:
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.14.1
+  rev: v0.15.5
   hooks:
   - id: ruff
     args:
@@ -19,7 +19,7 @@ repos:
   - id: toml-sort-fix
     exclude: poetry.lock
 - repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: v21.1.2
+  rev: v22.1.0
   hooks:
   - id: clang-format
     args:
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7f5fb78..557d885 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -67,6 +67,7 @@ install(
         urdf/cup.urdf
         urdf/door.urdf
         urdf/kitchen_area.urdf
+        urdf/kitchen_area_obstacle.urdf
         urdf/box_color.urdf
         urdf/rod.urdf
         urdf/table.urdf
diff --git a/cmake b/cmake
deleted file mode 160000
index c815b3b..0000000
--- a/cmake
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit c815b3ba45fa8b7cf4b7a21b69b26ad0bc04fd5c
diff --git a/flake.lock b/flake.lock
index 851d4ba..a1c93df 100644
--- a/flake.lock
+++ b/flake.lock
@@ -5,11 +5,11 @@
         "nixpkgs-lib": "nixpkgs-lib"
       },
       "locked": {
-        "lastModified": 1760813311,
-        "narHash": "sha256-lbHQ7FXGzt6/IygWvJ1lCq+Txcut3xYYd6VIpF1ojkg=",
+        "lastModified": 1769996383,
+        "narHash": "sha256-AnYjnFWgS49RlqX7LrC4uA+sCCDBj0Ry/WOJ5XWAsa0=",
         "owner": "hercules-ci",
         "repo": "flake-parts",
-        "rev": "4e627ac2e1b8f1de7f5090064242de9a259dbbc8",
+        "rev": "57928607ea566b5db3ad13af0e57e921e6b12381",
         "type": "github"
       },
       "original": {
@@ -36,37 +36,82 @@
         "type": "github"
       }
     },
-    "gepetto": {
+    "gazebros2nix": {
       "inputs": {
         "flake-parts": "flake-parts",
+        "gepetto-lib": "gepetto-lib",
         "nix-ros-overlay": "nix-ros-overlay",
-        "nix-system-graphics": "nix-system-graphics",
         "nixpkgs": [
           "gepetto",
+          "gazebros2nix",
+          "nix-ros-overlay",
+          "nixpkgs"
+        ],
+        "pyproject-build-systems": "pyproject-build-systems",
+        "pyproject-nix": "pyproject-nix",
+        "systems": [
+          "gepetto",
+          "gazebros2nix",
           "nix-ros-overlay",
+          "flake-utils",
+          "systems"
+        ],
+        "treefmt-nix": "treefmt-nix",
+        "uv2nix": "uv2nix"
+      },
+      "locked": {
+        "lastModified": 1772816781,
+        "narHash": "sha256-Ac0KEl+8ygy+BnDgczNHgTumw8HpCasp/zJU5Yx3kQs=",
+        "owner": "gepetto",
+        "repo": "gazebros2nix",
+        "rev": "ea8aff2fca6d45fa85fe5e90ef3c71fe0fcc0d12",
+        "type": "github"
+      },
+      "original": {
+        "owner": "gepetto",
+        "repo": "gazebros2nix",
+        "type": "github"
+      }
+    },
+    "gepetto": {
+      "inputs": {
+        "flake-parts": [
+          "gepetto",
+          "gazebros2nix",
+          "flake-parts"
+        ],
+        "gazebros2nix": "gazebros2nix",
+        "nix-ros-overlay": [
+          "gepetto",
+          "gazebros2nix",
+          "nix-ros-overlay"
+        ],
+        "nix-system-graphics": "nix-system-graphics",
+        "nixpkgs": [
+          "gepetto",
+          "gazebros2nix",
           "nixpkgs"
         ],
-        "src-agimus-controller": "src-agimus-controller",
-        "src-agimus-msgs": "src-agimus-msgs",
-        "src-franka-description": "src-franka-description",
-        "src-gepetto-viewer": "src-gepetto-viewer",
         "src-odri-control-interface": "src-odri-control-interface",
         "src-odri-masterboard-sdk": "src-odri-masterboard-sdk",
         "system-manager": "system-manager",
         "systems": [
           "gepetto",
-          "nix-ros-overlay",
-          "flake-utils",
+          "gazebros2nix",
           "systems"
         ],
-        "treefmt-nix": "treefmt-nix"
+        "treefmt-nix": [
+          "gepetto",
+          "gazebros2nix",
+          "treefmt-nix"
+        ]
       },
       "locked": {
-        "lastModified": 1760912477,
-        "narHash": "sha256-f13hr5lblgh/1L902D5inme4jrxIUa5CNMoJrJ5CAbY=",
+        "lastModified": 1772825496,
+        "narHash": "sha256-ZCgGWufV1suEVlft03k9TGOD190kGRCA3rrO8qsjeQ0=",
         "owner": "gepetto",
         "repo": "nix",
-        "rev": "5b37aa4185cd3797bd024b88b3a4b6c78a50a032",
+        "rev": "5c1a5edffd02c51e267c42f8dfd36a13c7817950",
         "type": "github"
       },
       "original": {
@@ -75,17 +120,32 @@
         "type": "github"
       }
     },
+    "gepetto-lib": {
+      "locked": {
+        "lastModified": 1770945346,
+        "narHash": "sha256-L88f+oJbpIkMm9Ln1GP9SFyGztMvnOowbdshQHBeGGs=",
+        "owner": "Gepetto",
+        "repo": "nix-lib",
+        "rev": "82ef58cdf50514f6b1fde96b9d5b38fd8d3e83f5",
+        "type": "github"
+      },
+      "original": {
+        "owner": "Gepetto",
+        "repo": "nix-lib",
+        "type": "github"
+      }
+    },
     "nix-ros-overlay": {
       "inputs": {
         "flake-utils": "flake-utils",
         "nixpkgs": "nixpkgs"
       },
       "locked": {
-        "lastModified": 1760853526,
-        "narHash": "sha256-oIRhuCXd/uDXcYyb/MZC0uVfMU/PM0OcAda47FfK32s=",
+        "lastModified": 1771885942,
+        "narHash": "sha256-TlBFvE4YHNlbhKVkayP/FWBNAAv+yG9APA8vMR+5NBw=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "e34da327d2988480fc91fa42b703e8c2149ca972",
+        "rev": "f891b118c8f4ddb2b6f38d6ce1bfe2f8079552ba",
         "type": "github"
       },
       "original": {
@@ -103,11 +163,11 @@
         ]
       },
       "locked": {
-        "lastModified": 1737457219,
-        "narHash": "sha256-nX9dxoATDCSQgWw/iv6BngXDJEyHVYYEvHEVQ7Ig3fI=",
+        "lastModified": 1763296639,
+        "narHash": "sha256-K9JBscC7ApwCnl0wR0sVkxrKFsoDYVqXN5fOujvyBWA=",
         "owner": "soupglasses",
         "repo": "nix-system-graphics",
-        "rev": "9c875e0c56cf2eb272b9102a4f3e24e4e31629fd",
+        "rev": "ac37f0f3ec0cb15d63a520918433c794d01d9dac",
         "type": "github"
       },
       "original": {
@@ -134,11 +194,11 @@
     },
     "nixpkgs-lib": {
       "locked": {
-        "lastModified": 1754788789,
-        "narHash": "sha256-x2rJ+Ovzq0sCMpgfgGaaqgBSwY+LST+WbZ6TytnT9Rk=",
+        "lastModified": 1769909678,
+        "narHash": "sha256-cBEymOf4/o3FD5AZnzC3J9hLbiZ+QDT/KDuyHXVJOpM=",
         "owner": "nix-community",
         "repo": "nixpkgs.lib",
-        "rev": "a73b9c743612e4244d865a2fdee11865283c04e6",
+        "rev": "72716169fe93074c333e8d0173151350670b824c",
         "type": "github"
       },
       "original": {
@@ -147,94 +207,87 @@
         "type": "github"
       }
     },
-    "root": {
+    "pyproject-build-systems": {
       "inputs": {
-        "flake-parts": [
-          "gepetto",
-          "flake-parts"
-        ],
-        "gepetto": "gepetto",
-        "nix-ros-overlay": [
-          "gepetto",
-          "nix-ros-overlay"
-        ],
         "nixpkgs": [
           "gepetto",
+          "gazebros2nix",
           "nixpkgs"
         ],
-        "systems": [
+        "pyproject-nix": [
           "gepetto",
-          "systems"
+          "gazebros2nix",
+          "pyproject-nix"
         ],
-        "treefmt-nix": [
+        "uv2nix": [
           "gepetto",
-          "treefmt-nix"
+          "gazebros2nix",
+          "uv2nix"
         ]
-      }
-    },
-    "src-agimus-controller": {
-      "flake": false,
-      "locked": {
-        "lastModified": 1760697732,
-        "narHash": "sha256-7qnvv4VgLcpSFzsvKsbHJBsM+FZE1yhzYZknhVg7FuY=",
-        "owner": "agimus-project",
-        "repo": "agimus_controller",
-        "rev": "f37cd913920d81613ebbc0c75937705ce1f6c280",
-        "type": "github"
       },
-      "original": {
-        "owner": "agimus-project",
-        "repo": "agimus_controller",
-        "type": "github"
-      }
-    },
-    "src-agimus-msgs": {
-      "flake": false,
       "locked": {
-        "lastModified": 1759994370,
-        "narHash": "sha256-QuYtUR7VTOOtRBrYCxDjSLUP77wh0NlHbMtxZ1nSJFM=",
-        "owner": "agimus-project",
-        "repo": "agimus_msgs",
-        "rev": "e8e48c8c7b942cc2d2feba01f5e2d319c7915816",
+        "lastModified": 1771423342,
+        "narHash": "sha256-7uXPiWB0YQ4HNaAqRvVndYL34FEp1ZTwVQHgZmyMtC8=",
+        "owner": "pyproject-nix",
+        "repo": "build-system-pkgs",
+        "rev": "04e9c186e01f0830dad3739088070e4c551191a4",
         "type": "github"
       },
       "original": {
-        "owner": "agimus-project",
-        "repo": "agimus_msgs",
+        "owner": "pyproject-nix",
+        "repo": "build-system-pkgs",
         "type": "github"
       }
     },
-    "src-franka-description": {
-      "flake": false,
+    "pyproject-nix": {
+      "inputs": {
+        "nixpkgs": [
+          "gepetto",
+          "gazebros2nix",
+          "nixpkgs"
+        ]
+      },
       "locked": {
-        "lastModified": 1759137774,
-        "narHash": "sha256-D7vkjZ1B9qKecqUCmnpwHcxzZpakvoqp0qAhv4jGwRI=",
-        "owner": "agimus-project",
-        "repo": "franka_description",
-        "rev": "3cad53b368ea19f10ce1248f4fd781abfae1bdc6",
+        "lastModified": 1771518446,
+        "narHash": "sha256-nFJSfD89vWTu92KyuJWDoTQJuoDuddkJV3TlOl1cOic=",
+        "owner": "pyproject-nix",
+        "repo": "pyproject.nix",
+        "rev": "eb204c6b3335698dec6c7fc1da0ebc3c6df05937",
         "type": "github"
       },
       "original": {
-        "owner": "agimus-project",
-        "repo": "franka_description",
+        "owner": "pyproject-nix",
+        "repo": "pyproject.nix",
         "type": "github"
       }
     },
-    "src-gepetto-viewer": {
-      "flake": false,
-      "locked": {
-        "lastModified": 1760391797,
-        "narHash": "sha256-5aWplS40CWL1GvF4LuLtipRP4TkTLNnOJUVTwzixpHA=",
-        "owner": "Gepetto",
-        "repo": "gepetto-viewer",
-        "rev": "1c942ecf7c755f615dcd43e17101a1f680795b8b",
-        "type": "github"
-      },
-      "original": {
-        "owner": "Gepetto",
-        "ref": "devel",
-        "repo": "gepetto-viewer",
-        "type": "github"
+    "root": {
+      "inputs": {
+        "flake-parts": [
+          "gepetto",
+          "flake-parts"
+        ],
+        "gazebros2nix": [
+          "gepetto",
+          "gazebros2nix"
+        ],
+        "gepetto": "gepetto",
+        "nix-ros-overlay": [
+          "gepetto",
+          "nix-ros-overlay"
+        ],
+        "nixpkgs": [
+          "gepetto",
+          "nixpkgs"
+        ],
+        "systems": [
+          "gepetto",
+          "systems"
+        ],
+        "treefmt-nix": [
+          "gepetto",
+          "treefmt-nix"
+        ]
       }
     },
     "src-odri-control-interface": {
@@ -279,11 +332,11 @@
         ]
       },
       "locked": {
-        "lastModified": 1756281415,
-        "narHash": "sha256-CjpoVwpJJ+DOZilPrDpZ5S3V+B1Y0calaHxTp2xMvGs=",
+        "lastModified": 1770135975,
+        "narHash": "sha256-J3qmZ4rTfmgyjrsQRrQWT7ZIYVtYqtLomMNDUibuw2k=",
         "owner": "numtide",
         "repo": "system-manager",
-        "rev": "e271eedac9a24678ca6cfc61677837422bf474e0",
+        "rev": "413f296fb1fd210c44e38744e270b3afc4c733d7",
         "type": "github"
       },
       "original": {
@@ -311,15 +364,16 @@
       "inputs": {
         "nixpkgs": [
           "gepetto",
+          "gazebros2nix",
           "nixpkgs"
         ]
       },
       "locked": {
-        "lastModified": 1760802554,
-        "narHash": "sha256-5YkOYOCF8/XNw89/ABKFB0c/P78U2EVuKRDGTql6+kA=",
+        "lastModified": 1770228511,
+        "narHash": "sha256-wQ6NJSuFqAEmIg2VMnLdCnUc0b7vslUohqqGGD+Fyxk=",
         "owner": "numtide",
         "repo": "treefmt-nix",
-        "rev": "296ebf0c3668ebceb3b0bfee55298f112b4b5754",
+        "rev": "337a4fe074be1042a35086f15481d763b8ddc0e7",
         "type": "github"
       },
       "original": {
@@ -327,6 +381,33 @@
         "repo": "treefmt-nix",
         "type": "github"
       }
+    },
+    "uv2nix": {
+      "inputs": {
+        "nixpkgs": [
+          "gepetto",
+          "gazebros2nix",
+          "nixpkgs"
+        ],
+        "pyproject-nix": [
+          "gepetto",
+          "gazebros2nix",
+          "pyproject-nix"
+        ]
+      },
+      "locked": {
+        "lastModified": 1772187362,
+        "narHash": "sha256-gCojeIlQ/rfWMe3adif3akyHsT95wiMkLURpxTeqmPc=",
+        "owner": "pyproject-nix",
+        "repo": "uv2nix",
+        "rev": "abe65de114300de41614002fe9dce2152ac2ac23",
+        "type": "github"
+      },
+      "original": {
+        "owner": "pyproject-nix",
+        "repo": "uv2nix",
+        "type": "github"
+      }
     }
   },
   "root": "root",
diff --git a/flake.nix b/flake.nix
index e350b14..3bb357d 100644
--- a/flake.nix
+++ b/flake.nix
@@ -3,6 +3,7 @@
 
   inputs = {
     gepetto.url = "github:gepetto/nix";
+    gazebros2nix.follows = "gepetto/gazebros2nix";
     flake-parts.follows = "gepetto/flake-parts";
     nixpkgs.follows = "gepetto/nixpkgs";
     nix-ros-overlay.follows = "gepetto/nix-ros-overlay";
@@ -12,20 +13,14 @@
 
   outputs =
     inputs:
-    inputs.flake-parts.lib.mkFlake { inherit inputs; } {
-      systems = import inputs.systems;
-      imports = [ inputs.gepetto.flakeModule ];
-      perSystem =
-        {
-          lib,
-          pkgs,
-          self',
-          ...
-        }:
-        {
-          packages = {
-            default = self'.packages.hpp-tutorial;
-            hpp-tutorial = pkgs.python3Packages.hpp-tutorial.overrideAttrs {
+    inputs.flake-parts.lib.mkFlake { inherit inputs; } (
+      { lib, ... }:
+      {
+        systems = import inputs.systems;
+        imports = [
+          inputs.gepetto.flakeModule
+          {
+            gazebros2nix.overrides.hpp-tutorial = _final: {
               src = lib.fileset.toSource {
                 root = ./.;
                 fileset = lib.fileset.unions [
@@ -43,7 +38,8 @@
                 ];
               };
             };
-          };
-        };
-    };
+          }
+        ];
+      }
+    );
 }
diff --git a/script/hpp_python_tutorial_1.py b/script/hpp_python_tutorial_1.py
new file mode 100644
index 0000000..5f5d6ef
--- /dev/null
+++ b/script/hpp_python_tutorial_1.py
@@ -0,0 +1,85 @@
+import numpy as np
+from pinocchio import SE3
+from pyhpp.core import DiffusingPlanner, Problem, RandomShortcut
+from pyhpp.pinocchio import Device, urdf
+from pyhpp_viser import Viewer
+
+urdfFilename = "package://example-robot-data/robots/pr2_description/urdf/pr2.urdf"
+srdfFilename = "package://example-robot-data/robots/pr2_description/srdf/pr2.srdf"
+rootJointType = "planar"
+# Initialize robot and viewer
+robot = Device("ur2")
+
+urdf.loadModel(
+    robot, 0, "r0", rootJointType, urdfFilename, srdfFilename, SE3.Identity()
+)
+
+# Define initial and goal configurations
+q_init = np.array(robot.currentConfiguration())
+q_goal = np.array(q_init[::].copy())
+model = robot.model()
+
+# Set root_joint bounds only
+lowerLimit = model.lowerPositionLimit
+upperLimit = model.upperPositionLimit
+
+# Set root_joint bounds specifically
+root_joint_bounds = [-4, -3, -5, -3]
+ij = model.getJointId("r0/root_joint")
+iq = model.idx_qs[ij]
+
+# Apply bounds (assuming first 2 DOF are x,y position)
+lowerLimit[iq] = -4
+upperLimit[iq] = -3
+lowerLimit[iq + 1] = -5
+upperLimit[iq + 1] = -3
+
+rankInConfiguration = dict()
+current_rank = 0
+for joint_id in range(1, model.njoints):
+    joint_name = model.names[joint_id]
+    joint = model.joints[joint_id]
+    rankInConfiguration[joint_name[3:]] = current_rank
+
+    current_rank += joint.nq
+
+q_init[0:2] = [-3.2, -4]
+
+rank = rankInConfiguration["torso_lift_joint"]
+q_init[rank] = 0.2
+q_goal[0:2] = [-3.2, -4]
+rank = rankInConfiguration["l_shoulder_lift_joint"]
+q_goal[rank] = 0.5
+rank = rankInConfiguration["l_elbow_flex_joint"]
+q_goal[rank] = -0.5
+rank = rankInConfiguration["r_shoulder_lift_joint"]
+q_goal[rank] = 0.5
+rank = rankInConfiguration["r_elbow_flex_joint"]
+q_goal[rank] = -0.5
+
+urdf.loadModel(
+    robot,
+    0,
+    "kitchen_area",
+    "anchor",
+    "package://hpp_tutorial/urdf/kitchen_area_obstacle.urdf",
+    "",
+    SE3.Identity(),
+)
+
+problem = Problem(robot)
+problem.initConfig(q_init)
+problem.addGoalConfig(q_goal)
+
+diffusingPlanner = DiffusingPlanner(problem)
+
+path_optimizer = RandomShortcut(problem)
+path = diffusingPlanner.solve()
+opt_path = path_optimizer.optimize(path)
+
+# launch in interactive mode to use viewer
+viewer = Viewer(robot)
+viewer.initViewer(open=True, loadModel=True)
+viewer(np.array(q_init))
+viewer.loadPath(path, "path")
+viewer.loadPath(opt_path, "opt_path")
diff --git a/urdf/kitchen_area_obstacle.urdf b/urdf/kitchen_area_obstacle.urdf
new file mode 100644
index 0000000..2a555d5
--- /dev/null
+++ b/urdf/kitchen_area_obstacle.urdf
@@ -0,0 +1,4729 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /workspace/src/iai_maps/build-rel/room/kitchen_area.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="kitchen" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor">
+  <material name="KitchenWhite">
+    <color rgba="0.75 0.75 0.7 1.0"/>
+  </material>
+  <material name="KitchenDarkGray">
+    <color rgba="0.3 0.3 0.3 1.0"/>
+  </material>
+  <material name="KitchenLightGray">
+    <color rgba="0.7 0.7 0.7 1.0"/>
+  </material>
+  <material name="KitchenWallWhite">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <material name="KitchenSink">
+    <texture filename="package://hpp_tutorial/Media/materials/textures/sink.png"/>
+  </material>
+  <material name="KitchenStove">
+    <texture filename="package://hpp_tutorial/Media/materials/textures/stove.png"/>
+  </material>
+  <!-- Little helper macro to define the inertia matrix needed for links. -->
+  <!-- Length is along the y-axis. -->
+  <!--<xacro:macro name="handle" params="name position link clearance">
+    <handle name="${name}" clearance="${clearance}">
+      <position>${position}</position>
+      <link name="${link}" />
+    </handle>
+  </xacro:macro>-->
+  <!--  <xacro:include filename="/workspace/src/iai_maps/build-rel/defs/ias_kitchen/materials.xacro"/>-->
+  <!--                       -->
+  <!-- Handle Goemetry Macro -->
+  <!--                       -->
+  <!--                         -->
+  <!-- Axial Handle SRDF Macro -->
+  <!--                         -->
+  <!--                   -->
+  <!-- Handle SRDF Macro -->
+  <!--                   -->
+  <!--              -->
+  <!-- Drawer Macro -->
+  <!--              -->
+  <!--                   -->
+  <!-- Drawer SRDF Macro -->
+  <!--                   -->
+  <!--                       -->
+  <!-- Drawer Vertical Macro -->
+  <!--                       -->
+  <!--              -->
+  <!-- Fridge Macro -->
+  <!--              -->
+  <!--                   -->
+  <!-- Fridge SRDF Macro -->
+  <!--                   -->
+  <!--               -->
+  <!-- Counter Macro -->
+  <!--               -->
+  <!--                     -->
+  <!-- Color Counter Macro -->
+  <!--                     -->
+  <!--                    -->
+  <!-- Counter Side Macro -->
+  <!--                    -->
+  <!--             -->
+  <!-- Rack Macro -->
+  <!--             -->
+  <!--                 -->
+  <!-- Rack Side Macro -->
+  <!--                 -->
+  <!--                -->
+  <!-- Skirting Macro -->
+  <!--                -->
+  <!--             -->
+  <!-- Island Area -->
+  <!--             -->
+  <!--           -->
+  <!-- Oven Area -->
+  <!--           -->
+  <!--             -->
+  <!-- Fridge Area -->
+  <!--             -->
+  <!--                  -->
+  <!-- Fridge SRDF Area -->
+  <!--                  -->
+  <!--               -->
+  <!-- Shopping Area -->
+  <!--               -->
+  <!-- Little helper macro to define the inertia matrix needed for links. -->
+  <!-- Length is along the y-axis. -->
+  <!--<xacro:macro name="handle" params="name position link clearance">
+    <handle name="${name}" clearance="${clearance}">
+      <position>${position}</position>
+      <link name="${link}" />
+    </handle>
+  </xacro:macro>-->
+  <!--  <xacro:include filename="/workspace/src/iai_maps/build-rel/defs/ias_kitchen/materials.xacro"/>-->
+  <!--                       -->
+  <!-- Handle Goemetry Macro -->
+  <!--                       -->
+  <!--                         -->
+  <!-- Axial Handle SRDF Macro -->
+  <!--                         -->
+  <!--                   -->
+  <!-- Handle SRDF Macro -->
+  <!--                   -->
+  <!--              -->
+  <!-- Drawer Macro -->
+  <!--              -->
+  <!--                   -->
+  <!-- Drawer SRDF Macro -->
+  <!--                   -->
+  <!--                       -->
+  <!-- Drawer Vertical Macro -->
+  <!--                       -->
+  <!--              -->
+  <!-- Fridge Macro -->
+  <!--              -->
+  <!--                   -->
+  <!-- Fridge SRDF Macro -->
+  <!--                   -->
+  <!--               -->
+  <!-- Counter Macro -->
+  <!--               -->
+  <!--                     -->
+  <!-- Color Counter Macro -->
+  <!--                     -->
+  <!--                    -->
+  <!-- Counter Side Macro -->
+  <!--                    -->
+  <!--             -->
+  <!-- Rack Macro -->
+  <!--             -->
+  <!--                 -->
+  <!-- Rack Side Macro -->
+  <!--                 -->
+  <!--                -->
+  <!-- Skirting Macro -->
+  <!--                -->
+  <!-- Little helper macro to define the inertia matrix needed for links. -->
+  <!-- Length is along the y-axis. -->
+  <!--<xacro:macro name="handle" params="name position link clearance">
+    <handle name="${name}" clearance="${clearance}">
+      <position>${position}</position>
+      <link name="${link}" />
+    </handle>
+  </xacro:macro>-->
+  <!--       -->
+  <!-- Table -->
+  <!--       -->
+  <!-- Little helper macro to define the inertia matrix needed for links. -->
+  <!-- Length is along the y-axis. -->
+  <!--<xacro:macro name="handle" params="name position link clearance">
+    <handle name="${name}" clearance="${clearance}">
+      <position>${position}</position>
+      <link name="${link}" />
+    </handle>
+  </xacro:macro>-->
+  <!--  <xacro:include filename="/workspace/src/iai_maps/build-rel/defs/ias_kitchen/materials.xacro"/>-->
+  <!--                       -->
+  <!-- Handle Goemetry Macro -->
+  <!--                       -->
+  <!--                         -->
+  <!-- Axial Handle SRDF Macro -->
+  <!--                         -->
+  <!--                   -->
+  <!-- Handle SRDF Macro -->
+  <!--                   -->
+  <!--              -->
+  <!-- Drawer Macro -->
+  <!--              -->
+  <!--                   -->
+  <!-- Drawer SRDF Macro -->
+  <!--                   -->
+  <!--                       -->
+  <!-- Drawer Vertical Macro -->
+  <!--                       -->
+  <!--              -->
+  <!-- Fridge Macro -->
+  <!--              -->
+  <!--                   -->
+  <!-- Fridge SRDF Macro -->
+  <!--                   -->
+  <!--               -->
+  <!-- Counter Macro -->
+  <!--               -->
+  <!--                     -->
+  <!-- Color Counter Macro -->
+  <!--                     -->
+  <!--                    -->
+  <!-- Counter Side Macro -->
+  <!--                    -->
+  <!--             -->
+  <!-- Rack Macro -->
+  <!--             -->
+  <!--                 -->
+  <!-- Rack Side Macro -->
+  <!--                 -->
+  <!--                -->
+  <!-- Skirting Macro -->
+  <!--                -->
+  <!-- Little helper macro to define the inertia matrix needed for links. -->
+  <!-- Length is along the y-axis. -->
+  <!--<xacro:macro name="handle" params="name position link clearance">
+    <handle name="${name}" clearance="${clearance}">
+      <position>${position}</position>
+      <link name="${link}" />
+    </handle>
+  </xacro:macro>-->
+  <!--       -->
+  <!-- Table -->
+  <!--       -->
+  <!--        -->
+  <!-- Cuboid -->
+  <!--        -->
+  <!-- This is the top level joint /tf frame. -->
+  <link name="kitchen_link">
+    <!--<sphere_inertia radius="0.001" mass="1"/>-->
+  </link>
+  <!-- Shelves on top of kitchen counter -->
+  <!--<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"
+  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"
+  name="shelf_top"
+  pos_x="-5.22" pos_y="-5.65" pos_z="1.48"
+  roll="0" pitch="0" yaw="0"
+  size_x="0.25" size_y="0.38" size_z="0.025"
+  />-->
+  <joint name="island_block_stove_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="island_block_link"/>
+    <child link="stove_link"/>
+  </joint>
+  <link name="stove_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0270770833333" ixy="0" ixz="0" iyy="0.0479083333333" iyz="0" izz="0.0208354166667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz=".30 1.895 .8525"/>
+      <geometry>
+        <box size=".50 .57 0.005"/>
+      </geometry>
+      <material name="KitchenStove"/>
+    </visual>fixed
+    <collision>
+      <origin rpy="0 0 0" xyz=".30 1.895 .8525"/>
+      <geometry>
+        <box size=".50 .57 0.005"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="stove_link">
+    <material value="Ias/KitchenStove"/>
+  </gazebo>
+  <joint name="island_block_counter_side_island_left_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3 0.015 0.41"/>
+    <parent link="island_block_link"/>
+    <child link="counter_side_island_left_link"/>
+  </joint>
+  <link name="counter_side_island_left_link">
+    <inertial>
+      <mass value="2.0"/>
+      <inertia ixx="0.112216666667" ixy="0" ixz="0" iyy="0.06015" iyz="0" izz="0.172066666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.6 0.03 0.82"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.6 0.03 0.82"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="counter_side_island_left_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="island_block_counter_side_island_right_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3 2.245 0.41"/>
+    <parent link="island_block_link"/>
+    <child link="counter_side_island_right_link"/>
+  </joint>
+  <link name="counter_side_island_right_link">
+    <inertial>
+      <mass value="2.0"/>
+      <inertia ixx="0.112216666667" ixy="0" ixz="0" iyy="0.06015" iyz="0" izz="0.172066666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.6 0.03 0.82"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.6 0.03 0.82"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="counter_side_island_right_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="island_block_counter_side_island_back_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01 1.13 0.41"/>
+    <parent link="island_block_link"/>
+    <child link="counter_side_island_back_link"/>
+  </joint>
+  <link name="counter_side_island_back_link">
+    <inertial>
+      <mass value="2.0"/>
+      <inertia ixx="0.918733333333" ixy="0" ixz="0" iyy="0.806733333333" iyz="0" izz="0.112133333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 2.2 0.82"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 2.2 0.82"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="counter_side_island_back_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="island_block_counter_top_island_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3 1.125 0.835"/>
+    <parent link="island_block_link"/>
+    <child link="counter_top_island_link"/>
+  </joint>
+  <link name="counter_top_island_link">
+    <inertial>
+      <mass value="2.0"/>
+      <inertia ixx="1.00056666667" ixy="0" ixz="0" iyy="1.10708333333" iyz="0" izz="0.106816666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.8 2.45 0.03"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.8 2.45 0.03"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="counter_top_island_link">
+    <kp>100000</kp>
+    <kd>1000000</kd>
+    <mu1>50000</mu1>
+    <mu2>50000</mu2>
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="island_block_white_counter_top_island_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3 1.125 0.851"/>
+    <parent link="island_block_link"/>
+    <child link="white_counter_top_island_link"/>
+  </joint>
+  <link name="white_counter_top_island_link">
+    <inertial>
+      <mass value="2.0"/>
+      <inertia ixx="1.00041733333" ixy="0" ixz="0" iyy="1.10708333333" iyz="0" izz="0.106667333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.8 2.45 0.002"/>
+      </geometry>
+      <material name="KitchenWhite"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.8 2.45 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="white_counter_top_island_link">
+    <kp>100000</kp>
+    <kd>1000000</kd>
+    <mu1>50000</mu1>
+    <mu2>50000</mu2>
+    <material value="Ias/KitchenWhite"/>
+  </gazebo>
+  <joint name="island_block_drawer_island_col1_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.57 0.33 0.245"/>
+    <parent link="island_block_link"/>
+    <child link="drawer_island_col1_bottom_fixed_link"/>
+  </joint>
+  <link name="drawer_island_col1_bottom_fixed_link">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
+    </inertial>
+  </link>
+  <joint name="island_block_drawer_island_col1_bottom_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col1_bottom_fixed_link"/>
+    <child link="drawer_island_col1_bottom_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <gazebo reference="island_block_drawer_island_col1_bottom_joint">
+    <erp>0.8</erp>
+    <cfm>0.0000001</cfm>
+    <stopKp>1000000.0</stopKp>
+    <stopKd>1.0</stopKd>
+  </gazebo>
+  <link name="drawer_island_col1_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0370083333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.00704166666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.595 0.285"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.6 0.29"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col1_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col1_bottom_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col1_bottom_link"/>
+    <child link="drawer_island_col1_bottom_left_link"/>
+  </joint>
+  <link name="drawer_island_col1_bottom_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col1_bottom_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col1_bottom_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col1_bottom_link"/>
+    <child link="drawer_island_col1_bottom_right_link"/>
+  </joint>
+  <link name="drawer_island_col1_bottom_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col1_bottom_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col1_bottom_back_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col1_bottom_link"/>
+    <child link="drawer_island_col1_bottom_back_link"/>
+  </joint>
+  <link name="drawer_island_col1_bottom_back_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0256333333333" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.00483333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col1_bottom_back_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col1_bottom_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col1_bottom_link"/>
+    <child link="drawer_island_col1_bottom_bottom_link"/>
+  </joint>
+  <link name="drawer_island_col1_bottom_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col1_bottom_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col1_bottom_handle_drawer_island_col1_bottom_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 0.0 0.0925"/>
+    <parent link="drawer_island_col1_bottom_link"/>
+    <child link="handle_drawer_island_col1_bottom_link"/>
+  </joint>
+  <link name="handle_drawer_island_col1_bottom_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.505 0.01"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.51 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_island_col1_bottom_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="island_block_drawer_island_col1_center_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.57 0.33 0.535"/>
+    <parent link="island_block_link"/>
+    <child link="drawer_island_col1_center_fixed_link"/>
+  </joint>
+  <link name="drawer_island_col1_center_fixed_link">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
+    </inertial>
+  </link>
+  <joint name="island_block_drawer_island_col1_center_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col1_center_fixed_link"/>
+    <child link="drawer_island_col1_center_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <gazebo reference="island_block_drawer_island_col1_center_joint">
+    <erp>0.8</erp>
+    <cfm>0.0000001</cfm>
+    <stopKp>1000000.0</stopKp>
+    <stopKd>1.0</stopKd>
+  </gazebo>
+  <link name="drawer_island_col1_center_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0370083333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.00704166666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.595 0.285"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.6 0.29"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col1_center_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col1_center_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col1_center_link"/>
+    <child link="drawer_island_col1_center_left_link"/>
+  </joint>
+  <link name="drawer_island_col1_center_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col1_center_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col1_center_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col1_center_link"/>
+    <child link="drawer_island_col1_center_right_link"/>
+  </joint>
+  <link name="drawer_island_col1_center_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col1_center_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col1_center_back_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col1_center_link"/>
+    <child link="drawer_island_col1_center_back_link"/>
+  </joint>
+  <link name="drawer_island_col1_center_back_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0256333333333" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.00483333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col1_center_back_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col1_center_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col1_center_link"/>
+    <child link="drawer_island_col1_center_bottom_link"/>
+  </joint>
+  <link name="drawer_island_col1_center_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col1_center_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col1_center_handle_drawer_island_col1_center_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 0.0 0.0925"/>
+    <parent link="drawer_island_col1_center_link"/>
+    <child link="handle_drawer_island_col1_center_link"/>
+  </joint>
+  <link name="handle_drawer_island_col1_center_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.505 0.01"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.51 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_island_col1_center_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="island_block_drawer_island_col1_top_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.57 0.33 0.75"/>
+    <parent link="island_block_link"/>
+    <child link="drawer_island_col1_top_fixed_link"/>
+  </joint>
+  <link name="drawer_island_col1_top_fixed_link">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
+    </inertial>
+  </link>
+  <joint name="island_block_drawer_island_col1_top_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col1_top_fixed_link"/>
+    <child link="drawer_island_col1_top_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <gazebo reference="island_block_drawer_island_col1_top_joint">
+    <erp>0.8</erp>
+    <cfm>0.0000001</cfm>
+    <stopKp>1000000.0</stopKp>
+    <stopKd>1.0</stopKd>
+  </gazebo>
+  <link name="drawer_island_col1_top_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0316333333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.00166666666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.595 0.135"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.6 0.14"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col1_top_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col1_top_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col1_top_link"/>
+    <child link="drawer_island_col1_top_left_link"/>
+  </joint>
+  <link name="drawer_island_col1_top_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col1_top_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col1_top_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col1_top_link"/>
+    <child link="drawer_island_col1_top_right_link"/>
+  </joint>
+  <link name="drawer_island_col1_top_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col1_top_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col1_top_back_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col1_top_link"/>
+    <child link="drawer_island_col1_top_back_link"/>
+  </joint>
+  <link name="drawer_island_col1_top_back_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0215083333333" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.000708333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.09"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col1_top_back_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col1_top_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col1_top_link"/>
+    <child link="drawer_island_col1_top_bottom_link"/>
+  </joint>
+  <link name="drawer_island_col1_top_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col1_top_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col1_top_handle_drawer_island_col1_top_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 0.0 0.0175"/>
+    <parent link="drawer_island_col1_top_link"/>
+    <child link="handle_drawer_island_col1_top_link"/>
+  </joint>
+  <link name="handle_drawer_island_col1_top_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.505 0.01"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.51 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_island_col1_top_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="island_block_drawer_island_col2_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.57 1.13 0.245"/>
+    <parent link="island_block_link"/>
+    <child link="drawer_island_col2_bottom_fixed_link"/>
+  </joint>
+  <link name="drawer_island_col2_bottom_fixed_link">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
+    </inertial>
+  </link>
+  <joint name="island_block_drawer_island_col2_bottom_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col2_bottom_fixed_link"/>
+    <child link="drawer_island_col2_bottom_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <gazebo reference="island_block_drawer_island_col2_bottom_joint">
+    <erp>0.8</erp>
+    <cfm>0.0000001</cfm>
+    <stopKp>1000000.0</stopKp>
+    <stopKd>1.0</stopKd>
+  </gazebo>
+  <link name="drawer_island_col2_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0903416666667" ixy="0" ixz="0" iyy="0.0833666666667" iyz="0" izz="0.00704166666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.995 0.285"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 1.0 0.29"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col2_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col2_bottom_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col2_bottom_link"/>
+    <child link="drawer_island_col2_bottom_left_link"/>
+  </joint>
+  <link name="drawer_island_col2_bottom_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 -0.44 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 -0.44 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col2_bottom_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col2_bottom_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col2_bottom_link"/>
+    <child link="drawer_island_col2_bottom_right_link"/>
+  </joint>
+  <link name="drawer_island_col2_bottom_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0.44 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0.44 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col2_bottom_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col2_bottom_back_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col2_bottom_link"/>
+    <child link="drawer_island_col2_bottom_back_link"/>
+  </joint>
+  <link name="drawer_island_col2_bottom_back_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0723" ixy="0" ixz="0" iyy="0.0675333333333" iyz="0" izz="0.00483333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.9 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.9 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col2_bottom_back_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col2_bottom_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col2_bottom_link"/>
+    <child link="drawer_island_col2_bottom_bottom_link"/>
+  </joint>
+  <link name="drawer_island_col2_bottom_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0675333333333" ixy="0" ixz="0" iyy="0.0918" iyz="0" izz="0.0243333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
+      <geometry>
+        <box size="0.54 0.9 0.02"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
+      <geometry>
+        <box size="0.54 0.9 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col2_bottom_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col2_bottom_handle_drawer_island_col2_bottom_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 0.0 0.0925"/>
+    <parent link="drawer_island_col2_bottom_link"/>
+    <child link="handle_drawer_island_col2_bottom_link"/>
+  </joint>
+  <link name="handle_drawer_island_col2_bottom_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00682604166667" ixy="0" ixz="0" iyy="0.00682604166667" iyz="0" izz="1.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.905 0.01"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.91 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_island_col2_bottom_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="island_block_drawer_island_col2_center_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.57 1.13 0.535"/>
+    <parent link="island_block_link"/>
+    <child link="drawer_island_col2_center_fixed_link"/>
+  </joint>
+  <link name="drawer_island_col2_center_fixed_link">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
+    </inertial>
+  </link>
+  <joint name="island_block_drawer_island_col2_center_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col2_center_fixed_link"/>
+    <child link="drawer_island_col2_center_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <gazebo reference="island_block_drawer_island_col2_center_joint">
+    <erp>0.8</erp>
+    <cfm>0.0000001</cfm>
+    <stopKp>1000000.0</stopKp>
+    <stopKd>1.0</stopKd>
+  </gazebo>
+  <link name="drawer_island_col2_center_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0903416666667" ixy="0" ixz="0" iyy="0.0833666666667" iyz="0" izz="0.00704166666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.995 0.285"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 1.0 0.29"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col2_center_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col2_center_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col2_center_link"/>
+    <child link="drawer_island_col2_center_left_link"/>
+  </joint>
+  <link name="drawer_island_col2_center_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 -0.44 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 -0.44 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col2_center_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col2_center_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col2_center_link"/>
+    <child link="drawer_island_col2_center_right_link"/>
+  </joint>
+  <link name="drawer_island_col2_center_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0.44 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0.44 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col2_center_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col2_center_back_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col2_center_link"/>
+    <child link="drawer_island_col2_center_back_link"/>
+  </joint>
+  <link name="drawer_island_col2_center_back_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0723" ixy="0" ixz="0" iyy="0.0675333333333" iyz="0" izz="0.00483333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.9 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.9 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col2_center_back_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col2_center_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col2_center_link"/>
+    <child link="drawer_island_col2_center_bottom_link"/>
+  </joint>
+  <link name="drawer_island_col2_center_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0675333333333" ixy="0" ixz="0" iyy="0.0918" iyz="0" izz="0.0243333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
+      <geometry>
+        <box size="0.54 0.9 0.02"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
+      <geometry>
+        <box size="0.54 0.9 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col2_center_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col2_center_handle_drawer_island_col2_center_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 0.0 0.0925"/>
+    <parent link="drawer_island_col2_center_link"/>
+    <child link="handle_drawer_island_col2_center_link"/>
+  </joint>
+  <link name="handle_drawer_island_col2_center_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00682604166667" ixy="0" ixz="0" iyy="0.00682604166667" iyz="0" izz="1.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.905 0.01"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.91 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_island_col2_center_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="island_block_drawer_island_col2_top_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.57 1.13 0.75"/>
+    <parent link="island_block_link"/>
+    <child link="drawer_island_col2_top_fixed_link"/>
+  </joint>
+  <link name="drawer_island_col2_top_fixed_link">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
+    </inertial>
+  </link>
+  <joint name="island_block_drawer_island_col2_top_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col2_top_fixed_link"/>
+    <child link="drawer_island_col2_top_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <gazebo reference="island_block_drawer_island_col2_top_joint">
+    <erp>0.8</erp>
+    <cfm>0.0000001</cfm>
+    <stopKp>1000000.0</stopKp>
+    <stopKd>1.0</stopKd>
+  </gazebo>
+  <link name="drawer_island_col2_top_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0849666666667" ixy="0" ixz="0" iyy="0.0833666666667" iyz="0" izz="0.00166666666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.995 0.135"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 1.0 0.14"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col2_top_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col2_top_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col2_top_link"/>
+    <child link="drawer_island_col2_top_left_link"/>
+  </joint>
+  <link name="drawer_island_col2_top_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 -0.44 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 -0.44 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col2_top_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col2_top_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col2_top_link"/>
+    <child link="drawer_island_col2_top_right_link"/>
+  </joint>
+  <link name="drawer_island_col2_top_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0.44 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0.44 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col2_top_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col2_top_back_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col2_top_link"/>
+    <child link="drawer_island_col2_top_back_link"/>
+  </joint>
+  <link name="drawer_island_col2_top_back_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.068175" ixy="0" ixz="0" iyy="0.0675333333333" iyz="0" izz="0.000708333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.9 0.09"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.9 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col2_top_back_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col2_top_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col2_top_link"/>
+    <child link="drawer_island_col2_top_bottom_link"/>
+  </joint>
+  <link name="drawer_island_col2_top_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0675333333333" ixy="0" ixz="0" iyy="0.0918" iyz="0" izz="0.0243333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
+      <geometry>
+        <box size="0.54 0.9 0.02"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
+      <geometry>
+        <box size="0.54 0.9 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col2_top_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col2_top_handle_drawer_island_col2_top_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 0.0 0.0175"/>
+    <parent link="drawer_island_col2_top_link"/>
+    <child link="handle_drawer_island_col2_top_link"/>
+  </joint>
+  <link name="handle_drawer_island_col2_top_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00682604166667" ixy="0" ixz="0" iyy="0.00682604166667" iyz="0" izz="1.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.905 0.01"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.91 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_island_col2_top_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="island_block_drawer_island_col3_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.57 1.93 0.245"/>
+    <parent link="island_block_link"/>
+    <child link="drawer_island_col3_bottom_fixed_link"/>
+  </joint>
+  <link name="drawer_island_col3_bottom_fixed_link">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
+    </inertial>
+  </link>
+  <joint name="island_block_drawer_island_col3_bottom_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col3_bottom_fixed_link"/>
+    <child link="drawer_island_col3_bottom_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <gazebo reference="island_block_drawer_island_col3_bottom_joint">
+    <erp>0.8</erp>
+    <cfm>0.0000001</cfm>
+    <stopKp>1000000.0</stopKp>
+    <stopKd>1.0</stopKd>
+  </gazebo>
+  <link name="drawer_island_col3_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0370083333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.00704166666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.595 0.285"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.6 0.29"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col3_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col3_bottom_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col3_bottom_link"/>
+    <child link="drawer_island_col3_bottom_left_link"/>
+  </joint>
+  <link name="drawer_island_col3_bottom_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col3_bottom_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col3_bottom_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col3_bottom_link"/>
+    <child link="drawer_island_col3_bottom_right_link"/>
+  </joint>
+  <link name="drawer_island_col3_bottom_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col3_bottom_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col3_bottom_back_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col3_bottom_link"/>
+    <child link="drawer_island_col3_bottom_back_link"/>
+  </joint>
+  <link name="drawer_island_col3_bottom_back_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0256333333333" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.00483333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col3_bottom_back_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col3_bottom_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col3_bottom_link"/>
+    <child link="drawer_island_col3_bottom_bottom_link"/>
+  </joint>
+  <link name="drawer_island_col3_bottom_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col3_bottom_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col3_bottom_handle_drawer_island_col3_bottom_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 0.0 0.0925"/>
+    <parent link="drawer_island_col3_bottom_link"/>
+    <child link="handle_drawer_island_col3_bottom_link"/>
+  </joint>
+  <link name="handle_drawer_island_col3_bottom_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.505 0.01"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.51 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_island_col3_bottom_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="island_block_drawer_island_col3_center_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.57 1.93 0.535"/>
+    <parent link="island_block_link"/>
+    <child link="drawer_island_col3_center_fixed_link"/>
+  </joint>
+  <link name="drawer_island_col3_center_fixed_link">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
+    </inertial>
+  </link>
+  <joint name="island_block_drawer_island_col3_center_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col3_center_fixed_link"/>
+    <child link="drawer_island_col3_center_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <gazebo reference="island_block_drawer_island_col3_center_joint">
+    <erp>0.8</erp>
+    <cfm>0.0000001</cfm>
+    <stopKp>1000000.0</stopKp>
+    <stopKd>1.0</stopKd>
+  </gazebo>
+  <link name="drawer_island_col3_center_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0370083333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.00704166666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.595 0.285"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.6 0.29"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col3_center_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col3_center_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col3_center_link"/>
+    <child link="drawer_island_col3_center_left_link"/>
+  </joint>
+  <link name="drawer_island_col3_center_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col3_center_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col3_center_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col3_center_link"/>
+    <child link="drawer_island_col3_center_right_link"/>
+  </joint>
+  <link name="drawer_island_col3_center_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col3_center_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col3_center_back_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col3_center_link"/>
+    <child link="drawer_island_col3_center_back_link"/>
+  </joint>
+  <link name="drawer_island_col3_center_back_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0256333333333" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.00483333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col3_center_back_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col3_center_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col3_center_link"/>
+    <child link="drawer_island_col3_center_bottom_link"/>
+  </joint>
+  <link name="drawer_island_col3_center_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col3_center_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col3_center_handle_drawer_island_col3_center_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 0.0 0.0925"/>
+    <parent link="drawer_island_col3_center_link"/>
+    <child link="handle_drawer_island_col3_center_link"/>
+  </joint>
+  <link name="handle_drawer_island_col3_center_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.505 0.01"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.51 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_island_col3_center_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="island_block_drawer_island_col3_top_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.57 1.93 0.75"/>
+    <parent link="island_block_link"/>
+    <child link="drawer_island_col3_top_fixed_link"/>
+  </joint>
+  <link name="drawer_island_col3_top_fixed_link">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
+    </inertial>
+  </link>
+  <joint name="island_block_drawer_island_col3_top_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col3_top_fixed_link"/>
+    <child link="drawer_island_col3_top_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <gazebo reference="island_block_drawer_island_col3_top_joint">
+    <erp>0.8</erp>
+    <cfm>0.0000001</cfm>
+    <stopKp>1000000.0</stopKp>
+    <stopKd>1.0</stopKd>
+  </gazebo>
+  <link name="drawer_island_col3_top_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0316333333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.00166666666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.595 0.135"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.6 0.14"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col3_top_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col3_top_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col3_top_link"/>
+    <child link="drawer_island_col3_top_left_link"/>
+  </joint>
+  <link name="drawer_island_col3_top_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col3_top_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col3_top_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col3_top_link"/>
+    <child link="drawer_island_col3_top_right_link"/>
+  </joint>
+  <link name="drawer_island_col3_top_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col3_top_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col3_top_back_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col3_top_link"/>
+    <child link="drawer_island_col3_top_back_link"/>
+  </joint>
+  <link name="drawer_island_col3_top_back_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0215083333333" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.000708333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.09"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col3_top_back_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col3_top_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_island_col3_top_link"/>
+    <child link="drawer_island_col3_top_bottom_link"/>
+  </joint>
+  <link name="drawer_island_col3_top_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_island_col3_top_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_island_col3_top_handle_drawer_island_col3_top_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 0.0 0.0175"/>
+    <parent link="drawer_island_col3_top_link"/>
+    <child link="handle_drawer_island_col3_top_link"/>
+  </joint>
+  <link name="handle_drawer_island_col3_top_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.505 0.01"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.51 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_island_col3_top_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="island_block_skirting_island_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.275 1.13 0.05"/>
+    <parent link="island_block_link"/>
+    <child link="skirting_island_link"/>
+  </joint>
+  <link name="skirting_island_link">
+    <inertial>
+      <mass value="10"/>
+      <inertia ixx="4.04166666667" ixy="0" ixz="0" iyy="4.25008333333" iyz="0" izz="0.225083333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.51 2.2 0.1"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.51 2.2 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="skirting_island_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="island_block_joint" type="fixed">
+    <origin rpy="0 0 3.141" xyz="-2.1 -4.94 0"/>
+    <parent link="kitchen_link"/>
+    <child link="island_block_link"/>
+  </joint>
+  <link name="island_block_link">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0" ixz="0" iyy="0.0" iyz="0" izz="0.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size=".1 .1 .1"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="oven_block_counter_top_oven_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.29 0.6 1.495"/>
+    <parent link="oven_block_link"/>
+    <child link="counter_top_oven_link"/>
+  </joint>
+  <link name="counter_top_oven_link">
+    <inertial>
+      <mass value="2.0"/>
+      <inertia ixx="0.24015" ixy="0" ixz="0" iyy="0.296066666667" iyz="0" izz="0.0562166666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.58 1.2 0.03"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.58 1.2 0.03"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="counter_top_oven_link">
+    <kp>100000</kp>
+    <kd>1000000</kd>
+    <mu1>50000</mu1>
+    <mu2>50000</mu2>
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="oven_block_drawer_oven_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.29 0.15 0.815"/>
+    <parent link="oven_block_link"/>
+    <child link="drawer_oven_left_fixed_link"/>
+  </joint>
+  <link name="drawer_oven_left_fixed_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="4e-08" ixy="0" ixz="0" iyy="4e-08" iyz="0" izz="4e-08"/>
+    </inertial>
+  </link>
+  <joint name="oven_block_drawer_oven_left_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_oven_left_fixed_link"/>
+    <child link="drawer_oven_left_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <link name="drawer_oven_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.575 0.295 1.325"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.58 0.3 1.33"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_oven_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_oven_left_handle_drawer_oven_left_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0.0 0.0"/>
+    <parent link="drawer_oven_left_link"/>
+    <child link="handle_drawer_oven_left_link"/>
+  </joint>
+  <link name="handle_drawer_oven_left_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.0127110416667" ixy="0" ixz="0" iyy="1.66666666667e-06" iyz="0" izz="0.0127110416667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 1.235"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.015 1.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_oven_left_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="oven_block_drawer_oven_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.57 0.6 0.44"/>
+    <parent link="oven_block_link"/>
+    <child link="drawer_oven_bottom_fixed_link"/>
+  </joint>
+  <link name="drawer_oven_bottom_fixed_link">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
+    </inertial>
+  </link>
+  <joint name="oven_block_drawer_oven_bottom_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_oven_bottom_fixed_link"/>
+    <child link="drawer_oven_bottom_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <gazebo reference="oven_block_drawer_oven_bottom_joint">
+    <erp>0.8</erp>
+    <cfm>0.0000001</cfm>
+    <stopKp>1000000.0</stopKp>
+    <stopKd>1.0</stopKd>
+  </gazebo>
+  <link name="drawer_oven_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0580333333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.0280666666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.595 0.575"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.6 0.58"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_oven_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_oven_bottom_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_oven_bottom_link"/>
+    <child link="drawer_oven_bottom_left_link"/>
+  </joint>
+  <link name="drawer_oven_bottom_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0234416666667" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0477083333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.53"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.53"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_oven_bottom_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_oven_bottom_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_oven_bottom_link"/>
+    <child link="drawer_oven_bottom_right_link"/>
+  </joint>
+  <link name="drawer_oven_bottom_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0234416666667" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0477083333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.53"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.53"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_oven_bottom_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_oven_bottom_back_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_oven_bottom_link"/>
+    <child link="drawer_oven_bottom_back_link"/>
+  </joint>
+  <link name="drawer_oven_bottom_back_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0442416666667" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.0234416666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.53"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.53"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_oven_bottom_back_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_oven_bottom_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_oven_bottom_link"/>
+    <child link="drawer_oven_bottom_bottom_link"/>
+  </joint>
+  <link name="drawer_oven_bottom_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.255"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.255"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_oven_bottom_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_oven_bottom_handle_drawer_oven_bottom_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 0.0 0.2375"/>
+    <parent link="drawer_oven_bottom_link"/>
+    <child link="handle_drawer_oven_bottom_link"/>
+  </joint>
+  <link name="handle_drawer_oven_bottom_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.505 0.01"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.51 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_oven_bottom_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="oven_block_drawer_oven_center_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.57 0.6 0.8"/>
+    <parent link="oven_block_link"/>
+    <child link="drawer_oven_center_fixed_link"/>
+  </joint>
+  <link name="drawer_oven_center_fixed_link">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
+    </inertial>
+  </link>
+  <joint name="oven_block_drawer_oven_center_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_oven_center_fixed_link"/>
+    <child link="drawer_oven_center_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <gazebo reference="oven_block_drawer_oven_center_joint">
+    <erp>0.8</erp>
+    <cfm>0.0000001</cfm>
+    <stopKp>1000000.0</stopKp>
+    <stopKd>1.0</stopKd>
+  </gazebo>
+  <link name="drawer_oven_center_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0316333333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.00166666666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.595 0.135"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.6 0.14"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_oven_center_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_oven_center_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_oven_center_link"/>
+    <child link="drawer_oven_center_left_link"/>
+  </joint>
+  <link name="drawer_oven_center_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_oven_center_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_oven_center_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_oven_center_link"/>
+    <child link="drawer_oven_center_right_link"/>
+  </joint>
+  <link name="drawer_oven_center_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_oven_center_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_oven_center_back_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_oven_center_link"/>
+    <child link="drawer_oven_center_back_link"/>
+  </joint>
+  <link name="drawer_oven_center_back_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0215083333333" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.000708333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.09"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_oven_center_back_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_oven_center_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_oven_center_link"/>
+    <child link="drawer_oven_center_bottom_link"/>
+  </joint>
+  <link name="drawer_oven_center_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_oven_center_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_oven_center_handle_drawer_oven_center_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 0.0 0.0175"/>
+    <parent link="drawer_oven_center_link"/>
+    <child link="handle_drawer_oven_center_link"/>
+  </joint>
+  <link name="handle_drawer_oven_center_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.505 0.01"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.51 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_oven_center_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="oven_block_drawer_oven_oven_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.57 0.6 1.17"/>
+    <parent link="oven_block_link"/>
+    <child link="drawer_oven_oven_fixed_link"/>
+  </joint>
+  <link name="drawer_oven_oven_fixed_link">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
+    </inertial>
+  </link>
+  <joint name="oven_block_drawer_oven_oven_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_oven_oven_fixed_link"/>
+    <child link="drawer_oven_oven_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <gazebo reference="oven_block_drawer_oven_oven_joint">
+    <erp>0.8</erp>
+    <cfm>0.0000001</cfm>
+    <stopKp>1000000.0</stopKp>
+    <stopKd>1.0</stopKd>
+  </gazebo>
+  <link name="drawer_oven_oven_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0620333333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.0320666666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.595 0.615"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.6 0.62"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_oven_oven_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_oven_oven_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_oven_oven_link"/>
+    <child link="drawer_oven_oven_left_link"/>
+  </joint>
+  <link name="drawer_oven_oven_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0271083333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.051375"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.57"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.57"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_oven_oven_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_oven_oven_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_oven_oven_link"/>
+    <child link="drawer_oven_oven_right_link"/>
+  </joint>
+  <link name="drawer_oven_oven_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0271083333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.051375"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.57"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.57"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_oven_oven_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_oven_oven_back_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_oven_oven_link"/>
+    <child link="drawer_oven_oven_back_link"/>
+  </joint>
+  <link name="drawer_oven_oven_back_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0479083333333" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.0271083333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.57"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.57"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_oven_oven_back_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_oven_oven_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_oven_oven_link"/>
+    <child link="drawer_oven_oven_bottom_link"/>
+  </joint>
+  <link name="drawer_oven_oven_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.275"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.275"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_oven_oven_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_oven_oven_handle_drawer_oven_oven_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 0.0 0.2575"/>
+    <parent link="drawer_oven_oven_link"/>
+    <child link="handle_drawer_oven_oven_link"/>
+  </joint>
+  <link name="handle_drawer_oven_oven_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.505 0.01"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.51 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_oven_oven_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="oven_block_drawer_oven_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.29 1.05 0.815"/>
+    <parent link="oven_block_link"/>
+    <child link="drawer_oven_right_fixed_link"/>
+  </joint>
+  <link name="drawer_oven_right_fixed_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="4e-08" ixy="0" ixz="0" iyy="4e-08" iyz="0" izz="4e-08"/>
+    </inertial>
+  </link>
+  <joint name="oven_block_drawer_oven_right_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_oven_right_fixed_link"/>
+    <child link="drawer_oven_right_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <link name="drawer_oven_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.153554166667" ixy="0" ixz="0" iyy="0.0348041666667" iyz="0" izz="0.173854166667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.575 0.295 1.325"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.58 0.3 1.33"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_oven_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_oven_right_handle_drawer_oven_right_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0.0 0.0"/>
+    <parent link="drawer_oven_right_link"/>
+    <child link="handle_drawer_oven_right_link"/>
+  </joint>
+  <link name="handle_drawer_oven_right_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.0127110416667" ixy="0" ixz="0" iyy="1.66666666667e-06" iyz="0" izz="0.0127110416667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 1.235"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.015 1.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_oven_right_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="oven_block_skirting_oven_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.255 0.6 0.075"/>
+    <parent link="oven_block_link"/>
+    <child link="skirting_oven_link"/>
+  </joint>
+  <link name="skirting_oven_link">
+    <inertial>
+      <mass value="10"/>
+      <inertia ixx="1.21875" ixy="0" ixz="0" iyy="1.41675" iyz="0" izz="0.2355"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.51 1.2 0.15"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.51 1.2 0.15"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="skirting_oven_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="oven_block_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-5.27 -6.85 0"/>
+    <parent link="kitchen_link"/>
+    <child link="oven_block_link"/>
+  </joint>
+  <link name="oven_block_link">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0" ixz="0" iyy="0.0" iyz="0" izz="0.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size=".1 .1 .1"/>
+      </geometry>
+    </visual>
+  </link>
+  <!--           -->
+  <!-- Sink Area -->
+  <!--           -->
+  <joint name="sink_block_sink_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="sink_block_link"/>
+    <child link="sink_link"/>
+  </joint>
+  <link name="sink_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0616354166667" ixy="0" ixz="0" iyy="0.0824666666667" iyz="0" izz="0.0208354166667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz=".295 1.485 .8525"/>
+      <geometry>
+        <box size=".50 .86 0.005"/>
+      </geometry>
+      <material name="KitchenSink"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz=".295 1.485 .8525"/>
+      <geometry>
+        <box size=".50 .86 0.005"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="sink_link">
+    <material value="Ias/KitchenSink"/>
+  </gazebo>
+  <joint name="sink_block_counter_side_sink_left_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.29 0.015 0.41"/>
+    <parent link="sink_block_link"/>
+    <child link="counter_side_sink_left_link"/>
+  </joint>
+  <link name="counter_side_sink_left_link">
+    <inertial>
+      <mass value="2.0"/>
+      <inertia ixx="0.112216666667" ixy="0" ixz="0" iyy="0.0562166666667" iyz="0" izz="0.168133333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.58 0.03 0.82"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.58 0.03 0.82"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="counter_side_sink_left_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="sink_block_counter_side_sink_right_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.29 2.045 0.41"/>
+    <parent link="sink_block_link"/>
+    <child link="counter_side_sink_right_link"/>
+  </joint>
+  <link name="counter_side_sink_right_link">
+    <inertial>
+      <mass value="2.0"/>
+      <inertia ixx="0.112216666667" ixy="0" ixz="0" iyy="0.0562166666667" iyz="0" izz="0.168133333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.58 0.03 0.82"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.58 0.03 0.82"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="counter_side_sink_right_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="sink_block_counter_top_sink_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.29 1.03 0.835"/>
+    <parent link="sink_block_link"/>
+    <child link="counter_top_sink_link"/>
+  </joint>
+  <link name="counter_top_sink_link">
+    <inertial>
+      <mass value="2.0"/>
+      <inertia ixx="0.707416666667" ixy="0" ixz="0" iyy="0.763333333333" iyz="0" izz="0.0562166666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.58 2.06 0.03"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.58 2.06 0.03"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="counter_top_sink_link">
+    <kp>100000</kp>
+    <kd>1000000</kd>
+    <mu1>50000</mu1>
+    <mu2>50000</mu2>
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="sink_block_white_counter_top_sink_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.29 1.03 0.851"/>
+    <parent link="sink_block_link"/>
+    <child link="white_counter_top_sink_link"/>
+  </joint>
+  <link name="white_counter_top_sink_link">
+    <inertial>
+      <mass value="2.0"/>
+      <inertia ixx="0.707267333333" ixy="0" ixz="0" iyy="0.763333333333" iyz="0" izz="0.0560673333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.58 2.06 0.002"/>
+      </geometry>
+      <material name="KitchenWhite"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.58 2.06 0.002"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="white_counter_top_sink_link">
+    <kp>100000</kp>
+    <kd>1000000</kd>
+    <mu1>50000</mu1>
+    <mu2>50000</mu2>
+    <material value="Ias/KitchenWhite"/>
+  </gazebo>
+  <joint name="sink_block_drawer_sink_col1_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.57 0.43 0.245"/>
+    <parent link="sink_block_link"/>
+    <child link="drawer_sink_col1_bottom_fixed_link"/>
+  </joint>
+  <link name="drawer_sink_col1_bottom_fixed_link">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
+    </inertial>
+  </link>
+  <joint name="sink_block_drawer_sink_col1_bottom_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col1_bottom_fixed_link"/>
+    <child link="drawer_sink_col1_bottom_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <gazebo reference="sink_block_drawer_sink_col1_bottom_joint">
+    <erp>0.8</erp>
+    <cfm>0.0000001</cfm>
+    <stopKp>1000000.0</stopKp>
+    <stopKd>1.0</stopKd>
+  </gazebo>
+  <link name="drawer_sink_col1_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0603416666667" ixy="0" ixz="0" iyy="0.0533666666667" iyz="0" izz="0.00704166666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.795 0.285"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.8 0.29"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col1_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col1_bottom_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col1_bottom_link"/>
+    <child link="drawer_sink_col1_bottom_left_link"/>
+  </joint>
+  <link name="drawer_sink_col1_bottom_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 -0.34 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 -0.34 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col1_bottom_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col1_bottom_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col1_bottom_link"/>
+    <child link="drawer_sink_col1_bottom_right_link"/>
+  </joint>
+  <link name="drawer_sink_col1_bottom_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0.34 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0.34 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col1_bottom_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col1_bottom_back_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col1_bottom_link"/>
+    <child link="drawer_sink_col1_bottom_back_link"/>
+  </joint>
+  <link name="drawer_sink_col1_bottom_back_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0456333333333" ixy="0" ixz="0" iyy="0.0408666666667" iyz="0" izz="0.00483333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.7 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.7 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col1_bottom_back_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col1_bottom_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col1_bottom_link"/>
+    <child link="drawer_sink_col1_bottom_bottom_link"/>
+  </joint>
+  <link name="drawer_sink_col1_bottom_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0408666666667" ixy="0" ixz="0" iyy="0.0651333333333" iyz="0" izz="0.0243333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
+      <geometry>
+        <box size="0.54 0.7 0.02"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
+      <geometry>
+        <box size="0.54 0.7 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col1_bottom_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col1_bottom_handle_drawer_sink_col1_bottom_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 0.0 0.0925"/>
+    <parent link="drawer_sink_col1_bottom_link"/>
+    <child link="handle_drawer_sink_col1_bottom_link"/>
+  </joint>
+  <link name="handle_drawer_sink_col1_bottom_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00414270833333" ixy="0" ixz="0" iyy="0.00414270833333" iyz="0" izz="1.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.705 0.01"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.71 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_sink_col1_bottom_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="sink_block_drawer_sink_col1_center_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.57 0.43 0.535"/>
+    <parent link="sink_block_link"/>
+    <child link="drawer_sink_col1_center_fixed_link"/>
+  </joint>
+  <link name="drawer_sink_col1_center_fixed_link">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
+    </inertial>
+  </link>
+  <joint name="sink_block_drawer_sink_col1_center_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col1_center_fixed_link"/>
+    <child link="drawer_sink_col1_center_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <gazebo reference="sink_block_drawer_sink_col1_center_joint">
+    <erp>0.8</erp>
+    <cfm>0.0000001</cfm>
+    <stopKp>1000000.0</stopKp>
+    <stopKd>1.0</stopKd>
+  </gazebo>
+  <link name="drawer_sink_col1_center_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0603416666667" ixy="0" ixz="0" iyy="0.0533666666667" iyz="0" izz="0.00704166666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.795 0.285"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.8 0.29"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col1_center_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col1_center_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col1_center_link"/>
+    <child link="drawer_sink_col1_center_left_link"/>
+  </joint>
+  <link name="drawer_sink_col1_center_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 -0.34 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 -0.34 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col1_center_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col1_center_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col1_center_link"/>
+    <child link="drawer_sink_col1_center_right_link"/>
+  </joint>
+  <link name="drawer_sink_col1_center_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.00483333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0291"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0.34 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0.34 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col1_center_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col1_center_back_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col1_center_link"/>
+    <child link="drawer_sink_col1_center_back_link"/>
+  </joint>
+  <link name="drawer_sink_col1_center_back_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0456333333333" ixy="0" ixz="0" iyy="0.0408666666667" iyz="0" izz="0.00483333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.7 0.24"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.7 0.24"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col1_center_back_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col1_center_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col1_center_link"/>
+    <child link="drawer_sink_col1_center_bottom_link"/>
+  </joint>
+  <link name="drawer_sink_col1_center_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0408666666667" ixy="0" ixz="0" iyy="0.0651333333333" iyz="0" izz="0.0243333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
+      <geometry>
+        <box size="0.54 0.7 0.02"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.11"/>
+      <geometry>
+        <box size="0.54 0.7 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col1_center_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col1_center_handle_drawer_sink_col1_center_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 0.0 0.0925"/>
+    <parent link="drawer_sink_col1_center_link"/>
+    <child link="handle_drawer_sink_col1_center_link"/>
+  </joint>
+  <link name="handle_drawer_sink_col1_center_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00414270833333" ixy="0" ixz="0" iyy="0.00414270833333" iyz="0" izz="1.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.705 0.01"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.71 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_sink_col1_center_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="sink_block_drawer_sink_col1_top_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.57 0.43 0.75"/>
+    <parent link="sink_block_link"/>
+    <child link="drawer_sink_col1_top_fixed_link"/>
+  </joint>
+  <link name="drawer_sink_col1_top_fixed_link">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
+    </inertial>
+  </link>
+  <joint name="sink_block_drawer_sink_col1_top_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col1_top_fixed_link"/>
+    <child link="drawer_sink_col1_top_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <gazebo reference="sink_block_drawer_sink_col1_top_joint">
+    <erp>0.8</erp>
+    <cfm>0.0000001</cfm>
+    <stopKp>1000000.0</stopKp>
+    <stopKd>1.0</stopKd>
+  </gazebo>
+  <link name="drawer_sink_col1_top_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0549666666667" ixy="0" ixz="0" iyy="0.0533666666667" iyz="0" izz="0.00166666666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.795 0.135"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.8 0.14"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col1_top_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col1_top_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col1_top_link"/>
+    <child link="drawer_sink_col1_top_left_link"/>
+  </joint>
+  <link name="drawer_sink_col1_top_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 -0.34 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 -0.34 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col1_top_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col1_top_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col1_top_link"/>
+    <child link="drawer_sink_col1_top_right_link"/>
+  </joint>
+  <link name="drawer_sink_col1_top_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0.34 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0.34 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col1_top_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col1_top_back_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col1_top_link"/>
+    <child link="drawer_sink_col1_top_back_link"/>
+  </joint>
+  <link name="drawer_sink_col1_top_back_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0415083333333" ixy="0" ixz="0" iyy="0.0408666666667" iyz="0" izz="0.000708333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.7 0.09"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.7 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col1_top_back_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col1_top_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col1_top_link"/>
+    <child link="drawer_sink_col1_top_bottom_link"/>
+  </joint>
+  <link name="drawer_sink_col1_top_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0408666666667" ixy="0" ixz="0" iyy="0.0651333333333" iyz="0" izz="0.0243333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
+      <geometry>
+        <box size="0.54 0.7 0.02"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
+      <geometry>
+        <box size="0.54 0.7 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col1_top_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col1_top_handle_drawer_sink_col1_top_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 0.0 0.0175"/>
+    <parent link="drawer_sink_col1_top_link"/>
+    <child link="handle_drawer_sink_col1_top_link"/>
+  </joint>
+  <link name="handle_drawer_sink_col1_top_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00414270833333" ixy="0" ixz="0" iyy="0.00414270833333" iyz="0" izz="1.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.705 0.01"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.71 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_sink_col1_top_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="sink_block_drawer_sink_col2_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.57 1.13 0.46"/>
+    <parent link="sink_block_link"/>
+    <child link="drawer_sink_col2_fixed_link"/>
+  </joint>
+  <link name="drawer_sink_col2_fixed_link">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
+    </inertial>
+  </link>
+  <joint name="sink_block_drawer_sink_col2_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col2_fixed_link"/>
+    <child link="drawer_sink_col2_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <gazebo reference="sink_block_drawer_sink_col2_joint">
+    <erp>0.8</erp>
+    <cfm>0.0000001</cfm>
+    <stopKp>1000000.0</stopKp>
+    <stopKd>1.0</stopKd>
+  </gazebo>
+  <link name="drawer_sink_col2_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0732" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.0432333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.595 0.715"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.6 0.72"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col2_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col2_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col2_link"/>
+    <child link="drawer_sink_col2_left_link"/>
+  </joint>
+  <link name="drawer_sink_col2_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0374416666667" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0617083333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.67"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.67"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col2_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col2_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col2_link"/>
+    <child link="drawer_sink_col2_right_link"/>
+  </joint>
+  <link name="drawer_sink_col2_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0374416666667" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0617083333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.67"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.67"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col2_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col2_back_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col2_link"/>
+    <child link="drawer_sink_col2_back_link"/>
+  </joint>
+  <link name="drawer_sink_col2_back_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0582416666667" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.0374416666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.67"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.67"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col2_back_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col2_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col2_link"/>
+    <child link="drawer_sink_col2_bottom_link"/>
+  </joint>
+  <link name="drawer_sink_col2_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.325"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.325"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col2_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col2_handle_drawer_sink_col2_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 0.0 0.3075"/>
+    <parent link="drawer_sink_col2_link"/>
+    <child link="handle_drawer_sink_col2_link"/>
+  </joint>
+  <link name="handle_drawer_sink_col2_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.505 0.01"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.51 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_sink_col2_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="sink_block_drawer_sink_col3_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.57 1.73 0.39"/>
+    <parent link="sink_block_link"/>
+    <child link="drawer_sink_col3_bottom_fixed_link"/>
+  </joint>
+  <link name="drawer_sink_col3_bottom_fixed_link">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
+    </inertial>
+  </link>
+  <joint name="sink_block_drawer_sink_col3_bottom_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col3_bottom_fixed_link"/>
+    <child link="drawer_sink_col3_bottom_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <gazebo reference="sink_block_drawer_sink_col3_bottom_joint">
+    <erp>0.8</erp>
+    <cfm>0.0000001</cfm>
+    <stopKp>1000000.0</stopKp>
+    <stopKd>1.0</stopKd>
+  </gazebo>
+  <link name="drawer_sink_col3_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0580333333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.0280666666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.595 0.575"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.6 0.58"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col3_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col3_bottom_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col3_bottom_link"/>
+    <child link="drawer_sink_col3_bottom_left_link"/>
+  </joint>
+  <link name="drawer_sink_col3_bottom_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0234416666667" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0477083333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.53"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.53"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col3_bottom_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col3_bottom_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col3_bottom_link"/>
+    <child link="drawer_sink_col3_bottom_right_link"/>
+  </joint>
+  <link name="drawer_sink_col3_bottom_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0234416666667" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.0477083333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.53"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.53"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col3_bottom_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col3_bottom_back_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col3_bottom_link"/>
+    <child link="drawer_sink_col3_bottom_back_link"/>
+  </joint>
+  <link name="drawer_sink_col3_bottom_back_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0442416666667" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.0234416666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.53"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.53"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col3_bottom_back_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col3_bottom_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col3_bottom_link"/>
+    <child link="drawer_sink_col3_bottom_bottom_link"/>
+  </joint>
+  <link name="drawer_sink_col3_bottom_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.255"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.255"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col3_bottom_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col3_bottom_handle_drawer_sink_col3_bottom_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 0.0 0.2375"/>
+    <parent link="drawer_sink_col3_bottom_link"/>
+    <child link="handle_drawer_sink_col3_bottom_link"/>
+  </joint>
+  <link name="handle_drawer_sink_col3_bottom_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.505 0.01"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.51 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_sink_col3_bottom_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="sink_block_drawer_sink_col3_top_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.57 1.73 0.75"/>
+    <parent link="sink_block_link"/>
+    <child link="drawer_sink_col3_top_fixed_link"/>
+  </joint>
+  <link name="drawer_sink_col3_top_fixed_link">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
+    </inertial>
+  </link>
+  <joint name="sink_block_drawer_sink_col3_top_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col3_top_fixed_link"/>
+    <child link="drawer_sink_col3_top_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <gazebo reference="sink_block_drawer_sink_col3_top_joint">
+    <erp>0.8</erp>
+    <cfm>0.0000001</cfm>
+    <stopKp>1000000.0</stopKp>
+    <stopKd>1.0</stopKd>
+  </gazebo>
+  <link name="drawer_sink_col3_top_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0316333333333" ixy="0" ixz="0" iyy="0.0300333333333" iyz="0" izz="0.00166666666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.595 0.135"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.6 0.14"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col3_top_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col3_top_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col3_top_link"/>
+    <child link="drawer_sink_col3_top_left_link"/>
+  </joint>
+  <link name="drawer_sink_col3_top_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 -0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col3_top_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col3_top_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col3_top_link"/>
+    <child link="drawer_sink_col3_top_right_link"/>
+  </joint>
+  <link name="drawer_sink_col3_top_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.000708333333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.024975"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0.24 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col3_top_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col3_top_back_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col3_top_link"/>
+    <child link="drawer_sink_col3_top_back_link"/>
+  </joint>
+  <link name="drawer_sink_col3_top_back_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0215083333333" ixy="0" ixz="0" iyy="0.0208666666667" iyz="0" izz="0.000708333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.09"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.5 0.09"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col3_top_back_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col3_top_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_sink_col3_top_link"/>
+    <child link="drawer_sink_col3_top_bottom_link"/>
+  </joint>
+  <link name="drawer_sink_col3_top_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0208666666667" ixy="0" ixz="0" iyy="0.0451333333333" iyz="0" izz="0.0243333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.035"/>
+      <geometry>
+        <box size="0.54 0.5 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_sink_col3_top_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_sink_col3_top_handle_drawer_sink_col3_top_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 0.0 0.0175"/>
+    <parent link="drawer_sink_col3_top_link"/>
+    <child link="handle_drawer_sink_col3_top_link"/>
+  </joint>
+  <link name="handle_drawer_sink_col3_top_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00212604166667" ixy="0" ixz="0" iyy="0.00212604166667" iyz="0" izz="1.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.505 0.01"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.51 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_sink_col3_top_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="sink_block_skirting_sink_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.255 1.03 0.05"/>
+    <parent link="sink_block_link"/>
+    <child link="skirting_sink_link"/>
+  </joint>
+  <link name="skirting_sink_link">
+    <inertial>
+      <mass value="10"/>
+      <inertia ixx="3.34166666667" ixy="0" ixz="0" iyy="3.55008333333" iyz="0" izz="0.225083333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.51 2.0 0.1"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.51 2.0 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="skirting_sink_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="sink_block_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-5.29 -5.65 0"/>
+    <parent link="kitchen_link"/>
+    <child link="sink_block_link"/>
+  </joint>
+  <link name="sink_block_link">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0" ixz="0" iyy="0.0" iyz="0" izz="0.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size=".1 .1 .1"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="fridge_block_counter_top_fridge_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.29 0.3 1.495"/>
+    <parent link="fridge_block_link"/>
+    <child link="counter_top_fridge_link"/>
+  </joint>
+  <link name="counter_top_fridge_link">
+    <inertial>
+      <mass value="2.0"/>
+      <inertia ixx="0.06015" ixy="0" ixz="0" iyy="0.116066666667" iyz="0" izz="0.0562166666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.58 0.6 0.03"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.58 0.6 0.03"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="counter_top_fridge_link">
+    <kp>100000</kp>
+    <kd>1000000</kd>
+    <mu1>50000</mu1>
+    <mu2>50000</mu2>
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="fridge_block_counter_side_fridge_left_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.29 0.01 0.815"/>
+    <parent link="fridge_block_link"/>
+    <child link="counter_side_fridge_left_link"/>
+  </joint>
+  <link name="counter_side_fridge_left_link">
+    <inertial>
+      <mass value="2.0"/>
+      <inertia ixx="0.294883333333" ixy="0" ixz="0" iyy="0.0561333333333" iyz="0" izz="0.350883333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.58 0.02 1.33"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.58 0.02 1.33"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="counter_side_fridge_left_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="fridge_block_counter_side_fridge_right_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.29 0.59 0.815"/>
+    <parent link="fridge_block_link"/>
+    <child link="counter_side_fridge_right_link"/>
+  </joint>
+  <link name="counter_side_fridge_right_link">
+    <inertial>
+      <mass value="2.0"/>
+      <inertia ixx="0.294883333333" ixy="0" ixz="0" iyy="0.0561333333333" iyz="0" izz="0.350883333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.58 0.02 1.33"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.58 0.02 1.33"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="counter_side_fridge_right_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="fridge_block_counter_bottom_fridge_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.2875 0.3 0.515"/>
+    <parent link="fridge_block_link"/>
+    <child link="counter_bottom_fridge_link"/>
+  </joint>
+  <link name="counter_bottom_fridge_link">
+    <inertial>
+      <mass value="2.0"/>
+      <inertia ixx="0.06015" ixy="0" ixz="0" iyy="0.115104166667" iyz="0" izz="0.0552541666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.575 0.6 0.03"/>
+      </geometry>
+      <material name="KitchenWhite"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.575 0.6 0.03"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="counter_bottom_fridge_link">
+    <kp>100000</kp>
+    <kd>1000000</kd>
+    <mu1>50000</mu1>
+    <mu2>50000</mu2>
+    <material value="Ias/KitchenWhite"/>
+  </gazebo>
+  <joint name="fridge_block_counter_middle_fridge_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.2875 0.3 0.845"/>
+    <parent link="fridge_block_link"/>
+    <child link="counter_middle_fridge_link"/>
+  </joint>
+  <link name="counter_middle_fridge_link">
+    <inertial>
+      <mass value="2.0"/>
+      <inertia ixx="0.06015" ixy="0" ixz="0" iyy="0.115104166667" iyz="0" izz="0.0552541666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.575 0.6 0.03"/>
+      </geometry>
+      <material name="KitchenWhite"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.575 0.6 0.03"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="counter_middle_fridge_link">
+    <kp>100000</kp>
+    <kd>1000000</kd>
+    <mu1>50000</mu1>
+    <mu2>50000</mu2>
+    <material value="Ias/KitchenWhite"/>
+  </gazebo>
+  <joint name="fridge_block_drawer_fridge_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.57 0.3 0.3325"/>
+    <parent link="fridge_block_link"/>
+    <child link="drawer_fridge_bottom_fixed_link"/>
+  </joint>
+  <link name="drawer_fridge_bottom_fixed_link">
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="4e-07" ixy="0" ixz="0" iyy="4e-07" iyz="0" izz="4e-07"/>
+    </inertial>
+  </link>
+  <joint name="fridge_block_drawer_fridge_bottom_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_fridge_bottom_fixed_link"/>
+    <child link="drawer_fridge_bottom_link"/>
+    <axis xyz="0.999 0 0.044"/>
+    <!-- the axis needs to be slightly tilted so that the drawers would stay closed in Gazebo-->
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <gazebo reference="fridge_block_drawer_fridge_bottom_joint">
+    <erp>0.8</erp>
+    <cfm>0.0000001</cfm>
+    <stopKp>1000000.0</stopKp>
+    <stopKd>1.0</stopKd>
+  </gazebo>
+  <link name="drawer_fridge_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0377041666667" ixy="0" ixz="0" iyy="0.0266354166667" iyz="0" izz="0.0111354166667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.56 0.36"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.02 0.565 0.365"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_fridge_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_fridge_bottom_left_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_fridge_bottom_link"/>
+    <child link="drawer_fridge_bottom_left_link"/>
+  </joint>
+  <link name="drawer_fridge_bottom_left_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.00830208333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.03256875"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 -0.2225 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.315"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 -0.2225 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.315"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_fridge_bottom_left_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_fridge_bottom_right_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_fridge_bottom_link"/>
+    <child link="drawer_fridge_bottom_right_link"/>
+  </joint>
+  <link name="drawer_fridge_bottom_right_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.00830208333333" ixy="0" ixz="0" iyy="0.0243333333333" iyz="0" izz="0.03256875"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0.2225 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.315"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0.2225 0"/>
+      <geometry>
+        <box size="0.54 0.02 0.315"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_fridge_bottom_right_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_fridge_bottom_back_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_fridge_bottom_link"/>
+    <child link="drawer_fridge_bottom_back_link"/>
+  </joint>
+  <link name="drawer_fridge_bottom_back_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0262875" ixy="0" ixz="0" iyy="0.0180520833333" iyz="0" izz="0.00830208333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.465 0.315"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.54 0 0"/>
+      <geometry>
+        <box size="0.02 0.465 0.315"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_fridge_bottom_back_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_fridge_bottom_bottom_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="drawer_fridge_bottom_link"/>
+    <child link="drawer_fridge_bottom_bottom_link"/>
+  </joint>
+  <link name="drawer_fridge_bottom_bottom_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0180520833333" ixy="0" ixz="0" iyy="0.04231875" iyz="0" izz="0.0243333333333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.1475"/>
+      <geometry>
+        <box size="0.54 0.465 0.02"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.27 0 -0.1475"/>
+      <geometry>
+        <box size="0.54 0.465 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="drawer_fridge_bottom_bottom_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="drawer_fridge_bottom_handle_drawer_fridge_bottom_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 0.0 0.13"/>
+    <parent link="drawer_fridge_bottom_link"/>
+    <child link="handle_drawer_fridge_bottom_link"/>
+  </joint>
+  <link name="handle_drawer_fridge_bottom_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00184166666667" ixy="0" ixz="0" iyy="0.00184166666667" iyz="0" izz="1.66666666667e-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.47 0.01"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.475 0.015"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_drawer_fridge_bottom_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="fridge_block_fridge_fixed_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.58 0.6 0.995"/>
+    <parent link="fridge_block_link"/>
+    <child link="fridge_fixed_link"/>
+  </joint>
+  <link name="fridge_fixed_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="4e-08" ixy="0" ixz="0" iyy="4e-08" iyz="0" izz="4e-08"/>
+    </inertial>
+  </link>
+  <joint name="fridge_block_fridge_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="fridge_fixed_link"/>
+    <child link="fridge_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.3" velocity="10"/>
+  </joint>
+  <link name="fridge_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.107104166667" ixy="0" ixz="0" iyy="0.0295041666667" iyz="0" izz="0.0776041666667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="-0.005 -0.3 0"/>
+      <geometry>
+        <box size="0.005 0.595 0.965"/>
+      </geometry>
+      <material name="KitchenLightGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.005 -0.3 0"/>
+      <geometry>
+        <box size="0.01 0.6 0.97"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="fridge_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="fridge_handle_fridge_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0625 -0.57 0.0"/>
+    <parent link="fridge_link"/>
+    <child link="handle_fridge_link"/>
+  </joint>
+  <link name="handle_fridge_link">
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.00638104166667" ixy="0" ixz="0" iyy="1.66666666667e-06" iyz="0" izz="0.00638104166667"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.875"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.015 0.015 0.88"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="handle_fridge_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="fridge_block_skirting_fridge_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.255 0.3 0.075"/>
+    <parent link="fridge_block_link"/>
+    <child link="skirting_fridge_link"/>
+  </joint>
+  <link name="skirting_fridge_link">
+    <inertial>
+      <mass value="10"/>
+      <inertia ixx="0.31875" ixy="0" ixz="0" iyy="0.51675" iyz="0" izz="0.2355"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.51 0.6 0.15"/>
+      </geometry>
+      <material name="KitchenDarkGray"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.51 0.6 0.15"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="skirting_fridge_link">
+    <material value="Ias/KitchenDarkGray"/>
+  </gazebo>
+  <joint name="fridge_block_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-5.29 -3.59 0"/>
+    <parent link="kitchen_link"/>
+    <child link="fridge_block_link"/>
+  </joint>
+  <link name="fridge_block_link">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0" ixz="0" iyy="0.0" iyz="0" izz="0.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size=".1 .1 .1"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="pancake_table_table_pancake_table_table_top_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.8 0.3 0.7175"/>
+    <parent link="pancake_table_table_link"/>
+    <child link="pancake_table_table_top_link"/>
+  </joint>
+  <link name="pancake_table_table_top_link">
+    <inertial>
+      <mass value="2.0"/>
+      <inertia ixx="0.0601041666667" ixy="0" ixz="0" iyy="0.486666666667" iyz="0" izz="0.426770833333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="1.6 0.6 0.025"/>
+      </geometry>
+      <material name="KitchenWhite"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="1.6 0.6 0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="pancake_table_table_top_link">
+    <kp>100000</kp>
+    <kd>1000000</kd>
+    <mu1>50000</mu1>
+    <mu2>50000</mu2>
+    <material value="Ias/KitchenWhite"/>
+  </gazebo>
+  <joint name="pancake_table_first_leg_joint" type="fixed">
+    <origin rpy="0 0 0 " xyz="0.025 0.025 0.350"/>
+    <parent link="pancake_table_table_link"/>
+    <child link="pancake_table_first_leg_link"/>
+  </joint>
+  <link name="pancake_table_first_leg_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0409895833333" ixy="0" ixz="0" iyy="0.0003125" iyz="0" izz="0.0409895833333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.700" radius="0.025"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.700" radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="pancake_table_first_leg_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="pancake_table_second_leg_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="1.575 0.025 0.350"/>
+    <parent link="pancake_table_table_link"/>
+    <child link="pancake_table_second_leg_link"/>
+  </joint>
+  <link name="pancake_table_second_leg_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0409895833333" ixy="0" ixz="0" iyy="0.0003125" iyz="0" izz="0.0409895833333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.700" radius="0.025"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.700" radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="pancake_table_second_leg_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="pancake_table_third_leg_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.025 0.575 0.350"/>
+    <parent link="pancake_table_table_link"/>
+    <child link="pancake_table_third_leg_link"/>
+  </joint>
+  <link name="pancake_table_third_leg_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0409895833333" ixy="0" ixz="0" iyy="0.0003125" iyz="0" izz="0.0409895833333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.700" radius="0.025"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.700" radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="pancake_table_third_leg_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="pancake_table_fourth_leg_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="1.575 0.575 0.350"/>
+    <parent link="pancake_table_table_link"/>
+    <child link="pancake_table_fourth_leg_link"/>
+  </joint>
+  <link name="pancake_table_fourth_leg_link">
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0.0409895833333" ixy="0" ixz="0" iyy="0.0003125" iyz="0" izz="0.0409895833333"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.700" radius="0.025"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <cylinder length="0.700" radius="0.025"/>
+      </geometry>
+    </collision>
+  </link>
+  <gazebo reference="pancake_table_fourth_leg_link">
+    <material value="Ias/KitchenLightGray"/>
+  </gazebo>
+  <joint name="pancake_table_table_joint" type="fixed">
+    <origin rpy="0 0 1.57" xyz="-2.1 -4.77 0.0"/>
+    <parent link="kitchen_link"/>
+    <child link="pancake_table_table_link"/>
+  </joint>
+  <link name="pancake_table_table_link">
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="0.0" ixy="0" ixz="0" iyy="0.0" iyz="0" izz="0.0"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size=".1 .1 .1"/>
+      </geometry>
+    </visual>
+  </link>
+  <!--<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"/>-->
+</robot>