<?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>
