diff --git a/demos/pycram_ur5_demo/demo.py b/demos/pycram_ur5_demo/demo.py
index a9839ea4d..42d6709d3 100644
--- a/demos/pycram_ur5_demo/demo.py
+++ b/demos/pycram_ur5_demo/demo.py
@@ -5,7 +5,7 @@
 import pybullet as pb
 
 from pycram.worlds.bullet_world import BulletWorld
-from pycram.world import Object
+from pycram.datastructures.world import Object
 from pycram.datastructures.pose import Pose
 from pycram.ros.force_torque_sensor import ForceTorqueSensor
 from pycram.ros.joint_state_publisher import JointStatePublisher
diff --git a/launch/ik_and_description.launch b/launch/ik_and_description.launch
index 0ae6d3098..d21700b12 100644
--- a/launch/ik_and_description.launch
+++ b/launch/ik_and_description.launch
@@ -9,39 +9,39 @@
     <include file="$(find pr2_arm_kinematics)/launch/pr2_ik_larm_node.launch"/>
     <include file="$(find pr2_arm_kinematics)/launch/pr2_ik_rarm_node.launch"/>
     <param name="robot_description"
-           textfile="$(find pycram)/resources/pr2.urdf"/>
+           textfile="$(find pycram)/resources/robots/pr2.urdf"/>
   </group>
   <!-- Boxy -->
   <group if="$(eval robot == 'boxy')">
     <param name="robot_description"
-              textfile="$(find pycram)/resources/boxy.urdf"/>
+              textfile="$(find pycram)/resources/robots/boxy.urdf"/>
   </group>
   <!-- Tiago -->
   <group if="$(eval robot == 'tiago_dual')">
     <param name="robot_description"
-              textfile="$(find pycram)/resources/tiago_dual.urdf"/>
+              textfile="$(find pycram)/resources/robots/tiago_dual.urdf"/>
   </group>
   <!-- UR5 -->
   <group if="$(eval robot == 'ur5')">
     <param name="robot_description"
-              textfile="$(find pycram)/resources/ur5_robotiq.urdf"/>
+              textfile="$(find pycram)/resources/robots/ur5_robotiq.urdf"/>
   </group>
   <!-- Donbot -->
   <group if="$(eval robot == 'donbot')">
     <param name="robot_description"
-              textfile="$(find pycram)/resources/iai_donbot.urdf"/>
+              textfile="$(find pycram)/resources/robots/iai_donbot.urdf"/>
   </group>
 
   <!-- HSR -->
   <group if="$(eval robot == 'hsrb')">
     <param name="robot_description"
-              textfile="$(find pycram)/resources/hsrb.urdf"/>
+              textfile="$(find pycram)/resources/robots/hsrb.urdf"/>
   </group>
 
   <!-- stretch -->
   <group if="$(eval robot == 'stretch')">
     <param name="robot_description"
-              textfile="$(find pycram)/resources/stretch.urdf"/>
+              textfile="$(find pycram)/resources/robots/stretch.urdf"/>
   </group>
 
 
diff --git a/resources/apartment_without_walls.urdf b/resources/apartment_without_walls.urdf
new file mode 100644
index 000000000..a807692d1
--- /dev/null
+++ b/resources/apartment_without_walls.urdf
@@ -0,0 +1,2026 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from /home/giang/Workspace/map_ws/src/iai_maps/iai_apartment/urdf/apartment.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="apartment">
+  <link name="apartment_root">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </link>
+  <joint name="furnitures_base" type="fixed">
+    <origin xyz="8.85 1.75 0.0"/>
+    <parent link="apartment_root"/>
+    <child link="furnitures_root"/>
+  </joint>
+  <link name="furnitures_root"/>
+  <!-- things and stuff -->
+  <!-- Collision okay Walls -->
+  <!-- From the door side being wall 1, turn right and count the walls. -->
+
+  <joint name="wardrobe_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="9.7082 -0.6331 0.0"/>
+    <parent link="furnitures_root"/>
+    <child link="wardrobe"/>
+  </joint>
+  <link name="wardrobe">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/visual/wardrobe.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.2693 -0.4482 0.0750"/>
+      <geometry>
+        <box size="0.08 0.08 0.15"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.10603 -0.4482 0.0750"/>
+      <geometry>
+        <box size="0.08 0.08 0.15"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.2693 0.4482 0.0750"/>
+      <geometry>
+        <box size="0.08 0.08 0.15"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.10603 0.4482 0.0750"/>
+      <geometry>
+        <box size="0.08 0.08 0.15"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0805 0.0000 0.16345"/>
+      <geometry>
+        <box size="0.487 1.0000 0.0269"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0805 0.48965 0.975"/>
+      <geometry>
+        <box size="0.487 0.0207 1.65"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0896 0.0000 0.975"/>
+      <geometry>
+        <box size="0.4318 0.018568 1.65"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0805 -0.48965 0.975"/>
+      <geometry>
+        <box size="0.487 0.0207 1.65"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.14465 0.0000 0.975"/>
+      <geometry>
+        <box size="0.0367 1.0000 1.65"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.14465 0.0000 0.975"/>
+      <geometry>
+        <box size="0.0367 1.0000 1.65"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0805 0.0000 1.7865"/>
+      <geometry>
+        <box size="0.487 1.0000 0.027"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.08861 -0.244343 0.5727"/>
+      <geometry>
+        <box size="0.4299 0.469957 0.0118"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.08861 -0.244343 0.974836"/>
+      <geometry>
+        <box size="0.4299 0.469957 0.0118"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.08861 -0.244343 1.37686"/>
+      <geometry>
+        <box size="0.4299 0.469957 0.0118"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="1.5708 0 0" xyz="-0.086923 0.244373 1.66898"/>
+      <geometry>
+        <cylinder length="0.469897" radius="0.0075"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="wardrobe_door_left_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.3246 0.5 0.0000"/>
+    <parent link="wardrobe"/>
+    <child link="wardrobe_door_left"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="1000.0" lower="0.0" upper="1.5708" velocity="1.5708"/>
+  </joint>
+  <link name="wardrobe_door_left">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/visual/wardrobe_door_left.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.006435 -0.2485 0.975"/>
+      <geometry>
+        <box size="0.012967 0.495438 1.64844"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="wardrobe_door_left_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.032089 -0.460513 0.973703"/>
+    <parent link="wardrobe_door_left"/>
+    <child link="wardrobe_door_left_handle"/>
+  </joint>
+  <link name="wardrobe_door_left_handle">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/visual/wardrobe_door_handle.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.010421 0 0.059003"/>
+      <geometry>
+        <box size="0.033556 0.015082 0.014587"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0136 0 0"/>
+      <geometry>
+        <box size="0.014486 0.015082 0.13"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.010421 0 -0.059003"/>
+      <geometry>
+        <box size="0.033556 0.015082 0.014587"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="wardrobe_door_right_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.3246 -0.5 0.0000"/>
+    <parent link="wardrobe"/>
+    <child link="wardrobe_door_right"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="0.0" upper="1.5708" velocity="1.5708"/>
+  </joint>
+  <link name="wardrobe_door_right">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/visual/wardrobe_door_right.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.006435 0.2485 0.975"/>
+      <geometry>
+        <box size="0.012967 0.495438 1.64844"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="wardrobe_door_right_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.032089 0.460513 0.973703"/>
+    <parent link="wardrobe_door_right"/>
+    <child link="wardrobe_door_right_handle"/>
+  </joint>
+  <link name="wardrobe_door_right_handle">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/visual/wardrobe_door_handle.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.010421 0 0.059003"/>
+      <geometry>
+        <box size="0.033556 0.015082 0.014587"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0136 0 0"/>
+      <geometry>
+        <box size="0.014486 0.015082 0.13"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.010421 0 -0.059003"/>
+      <geometry>
+        <box size="0.033556 0.015082 0.014587"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="armchair_joint" type="fixed">
+    <origin rpy="0 0 1.9199" xyz="7.9688 -0.3791 0.0"/>
+    <parent link="furnitures_root"/>
+    <child link="armchair"/>
+  </joint>
+  <link name="armchair">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/visual/armchair.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/collision/armchair.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sofa_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="8.1986 2.4096 0.0"/>
+    <parent link="furnitures_root"/>
+    <child link="sofa"/>
+  </joint>
+  <link name="sofa">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/visual/sofa.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/collision/sofa.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="coffee_table_joint" type="fixed">
+    <origin rpy="0 0 1.5708" xyz="7.8034 1.02957 0.0"/>
+    <parent link="furnitures_root"/>
+    <child link="coffee_table"/>
+  </joint>
+  <link name="coffee_table">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/visual/coffee_table.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0000 0.0000 0.02977"/>
+      <geometry>
+        <box size="0.58 1.08 0.05954"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.022101 0.0000 0.06552"/>
+      <geometry>
+        <box size="0.6106 0.4 0.01196"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0000 0.39975 0.220625"/>
+      <geometry>
+        <box size="0.7 0.4 0.32"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0000 -0.39975 0.220625"/>
+      <geometry>
+        <box size="0.7 0.4 0.32"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.316343 0.0000 0.22"/>
+      <geometry>
+        <box size="0.0673 0.4 0.32"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0000 0.0000 0.39"/>
+      <geometry>
+        <box size="0.7 1.2 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="coffee_table_drawer_joint" type="prismatic">
+    <parent link="coffee_table"/>
+    <child link="coffee_table_drawer"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.5" velocity="0.5"/>
+  </joint>
+  <link name="coffee_table_drawer">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/visual/coffee_table_drawer.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.338806 0.0000 0.21892"/>
+      <geometry>
+        <box size="0.0214 0.396 0.31569"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.051066 0.0000 0.107979"/>
+      <geometry>
+        <box size="0.5521 0.3454 0.02144"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.207974 0.0000 0.238907"/>
+      <geometry>
+        <box size="0.0214 0.3486 0.2398"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.051066 -0.186206 0.226597"/>
+      <geometry>
+        <box size="0.5521 0.0214 0.26425"/>
+      </geometry>
+    </collision>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.051066 0.186206 0.226597"/>
+      <geometry>
+        <box size="0.5521 0.0214 0.26425"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="bedside_table_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="7.2110 0.1296 0.0"/>
+    <parent link="furnitures_root"/>
+    <child link="bedside_table"/>
+  </joint>
+  <link name="bedside_table">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/visual/bedside_table.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0000 0.0000 0.230"/>
+      <geometry>
+        <box size="0.312 0.312 0.460"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_base" type="fixed">
+    <origin xyz="-0.03 0.75 0.005"/>
+    <parent link="apartment_root"/>
+    <child link="kitchen_root"/>
+  </joint>
+  <link name="kitchen_root"/>
+  <!-- Frames, reference frames -->
+  <joint name="frame_A_joint" type="fixed">
+    <parent link="kitchen_root"/>
+    <origin xyz="0.49 0.696 0.080"/>
+    <child link="side_A"/>
+  </joint>
+  <!-- Bond, James Bond -->
+  <joint name="frame_B_joint" type="fixed">
+    <parent link="kitchen_root"/>
+    <origin rpy="0 0 3.14" xyz="2.91 3.7 0.11"/>
+    <child link="side_B"/>
+  </joint>
+  <link name="side_A"/>
+  <link name="side_B"/>
+  <!-- - - - - - - - - - - - - Cabinets side A - - - - - - - - - -->
+  <!-- Cabinet1 -->
+  <joint name="cabinet1_joint" type="fixed">
+    <origin xyz="0.01 0.01 1.02"/>
+    <parent link="side_A"/>
+    <child link="cabinet1"/>
+  </joint>
+  <link name="cabinet1">
+    <visual>
+      <origin xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet01/IAICabinet1W60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet01/IAICabinet1W60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet1_door_top_left_joint" type="revolute">
+    <origin rpy="0 0 3.14" xyz="0.103 -0.3 0.32"/>
+    <parent link="cabinet1"/>
+    <child link="cabinet1_door_top_left"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="1000.0" lower="0.0" upper="1.5708" velocity="1.5708"/>
+  </joint>
+  <link name="cabinet1_door_top_left">
+    <visual>
+      <origin rpy="0 0 3.14" xyz="0.001 -0.305 0.35"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet01/IAIDoorW60H80.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14" xyz="0.001 -0.305 0.35"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet01/IAIDoorW60H80.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab1_top_door_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.055 -0.5 0.0"/>
+    <parent link="cabinet1_door_top_left"/>
+    <child link="handle_cab1_top_door"/>
+  </joint>
+  <link name="handle_cab1_top_door">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.175 0.0 -0.025"/>
+    <!-- <origin xyz="-0.125 0.0 -0.025" rpy="0 0 0"/> -->
+    <parent link="cabinet1"/>
+    <child link="oven"/>
+  </joint>
+  <material name="oven_gray">
+    <color rgba="0.8 0.8 0.8 1"/>
+  </material>
+  <link name="oven">
+    <visual>
+      <geometry>
+        <!-- <box size="0.58 0.58 0.59"/> -->
+        <mesh filename="package://iai_apartment/meshes/cabinet01/oven.dae"/>
+      </geometry>
+      <!-- <material name="oven_gray"/> -->
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.58 0.58 0.59"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet1_drawer_middle_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="-0.117 0.0 -0.43"/>
+    <parent link="cabinet1"/>
+    <child link="cabinet1_drawer_middle"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet1_drawer_middle">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet01/IAIDrawerW60H26.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet01/IAIDrawerW60H26.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab1_drawer_mid_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.26 0.0 0.11"/>
+    <parent link="cabinet1_drawer_middle"/>
+    <child link="handle_cab1_drawer_mid"/>
+  </joint>
+  <link name="handle_cab1_drawer_mid">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet1_drawer_bottom_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="-0.094 0.0 -0.95"/>
+    <parent link="cabinet1"/>
+    <child link="cabinet1_drawer_bottom"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet1_drawer_bottom">
+    <visual>
+      <origin rpy="0 0 -3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet01/IAIDrawerW60H53.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 -3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet01/IAIDrawerW60H53.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab1_drawer_bottom_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.237 0.0 0.35"/>
+    <parent link="cabinet1_drawer_bottom"/>
+    <child link="handle_cab1_drawer_bottom"/>
+  </joint>
+  <link name="handle_cab1_drawer_bottom">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Collision okay surface for cabinet1-->
+  <material name="white">
+    <color rgba="1 1 1 1"/>
+  </material>
+  <joint name="cabinet1_coloksu_level4_joint" type="fixed">
+    <origin xyz="-0.172 0.005 0.281"/>
+    <parent link="cabinet1"/>
+    <child link="cabinet1_coloksu_level4"/>
+  </joint>
+  <link name="cabinet1_coloksu_level4">
+    <visual>
+      <geometry>
+        <box size="0.534 0.568 0.003"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.534 0.568 0.003"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet1_coloksu_level5_joint" type="fixed">
+    <!-- actually this should align with the CAD model but the CAD model is incorrect. -->
+    <!-- <origin xyz="-0.172 0.005 0.672"/> -->
+    <origin xyz="-0.172 0.005 0.56"/>
+    <parent link="cabinet1"/>
+    <child link="cabinet1_coloksu_level5"/>
+  </joint>
+  <link name="cabinet1_coloksu_level5">
+    <visual>
+      <geometry>
+        <box size="0.534 0.568 0.02"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.534 0.568 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Cabinet2 -->
+  <joint name="cabinet2_joint" type="fixed">
+    <origin xyz="-0.163 0.51 0.975"/>
+    <parent link="side_A"/>
+    <child link="cabinet2"/>
+  </joint>
+  <link name="cabinet2">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet02/IAICabinet2W40H57.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet02/IAICabinet2W40H57.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet2_door_out_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.277 -0.19 0.0"/>
+    <parent link="cabinet2"/>
+    <child link="cabinet2_door_out_fancy"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1.0" lower="0.0" upper="0.02" velocity="1.5708"/>
+    <mimic joint="cabinet2_door_left_joint" multiplier="0.01"/>
+  </joint>
+  <link name="cabinet2_door_out_fancy"/>
+  <joint name="cabinet2_door_left_joint" type="revolute">
+    <parent link="cabinet2_door_out_fancy"/>
+    <child link="cabinet2_door_left"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="1000.0" lower="0.0" upper="1.5708" velocity="1.5708"/>
+  </joint>
+  <link name="cabinet2_door_left">
+    <visual>
+      <origin rpy="0 0 3.14" xyz="0 -0.2 0.145"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet02/IAIDoorW40H212.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14" xyz="0 -0.2 0.145"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet02/IAIDoorW40H212.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab2_drawer_bottom_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.040 -0.29 0.05"/>
+    <parent link="cabinet2_door_left"/>
+    <child link="handle_cab2_door"/>
+  </joint>
+  <link name="handle_cab2_door">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet2_drawer_small_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="-0.01 0.0 0.17"/>
+    <parent link="cabinet2"/>
+    <child link="cabinet2_drawer_small"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="500.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet2_drawer_small">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet02/IAIDrawerW40H10.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet02/IAIDrawerW40H10.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet2_drawer_big_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.04 0.0 -0.12"/>
+    <parent link="cabinet2"/>
+    <child link="cabinet2_drawer_big"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="500.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet2_drawer_big">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet02/IAIDrawerW40H22.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet02/IAIDrawerW40H22.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Cabinet3 -->
+  <joint name="cabinet3_joint" type="fixed">
+    <origin xyz="-0.273 1.022 1.07"/>
+    <parent link="side_A"/>
+    <child link="cabinet3"/>
+  </joint>
+  <link name="cabinet3">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet03/IAICabinet3W60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet03/IAICabinet3W60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet3_door_top_out_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.39 -0.3 0.5"/>
+    <parent link="cabinet3"/>
+    <child link="cabinet3_door_top_out_fancy"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1.0" lower="0.0" upper="0.02" velocity="1.5708"/>
+    <mimic joint="cabinet3_door_top_left_joint" multiplier="0.01"/>
+  </joint>
+  <link name="cabinet3_door_top_out_fancy"/>
+  <joint name="cabinet3_door_top_left_joint" type="revolute">
+    <parent link="cabinet3_door_top_out_fancy"/>
+    <child link="cabinet3_door_top_left"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="1000.0" lower="0.0" upper="1.5708" velocity="1.5708"/>
+  </joint>
+  <link name="cabinet3_door_top_left">
+    <visual>
+      <origin rpy="0 0 3.14" xyz="0.001 -0.3 -0.1"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet03/IAIDoorW60H133.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14" xyz="0.001 -0.3 -0.1"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet03/IAIDoorW60H133.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab3_door_top_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.036 -0.45 -0.65"/>
+    <parent link="cabinet3_door_top_left"/>
+    <child link="handle_cab3_door_top"/>
+  </joint>
+  <link name="handle_cab3_door_top">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet3_door_bottom_out_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.39 -0.3 -0.5"/>
+    <parent link="cabinet3"/>
+    <child link="cabinet3_door_bottom_out_fancy"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1.0" lower="0.0" upper="0.02" velocity="1.5708"/>
+    <mimic joint="cabinet3_door_bottom_left_joint" multiplier="0.01"/>
+  </joint>
+  <link name="cabinet3_door_bottom_out_fancy"/>
+  <joint name="cabinet3_door_bottom_left_joint" type="revolute">
+    <parent link="cabinet3_door_bottom_out_fancy"/>
+    <child link="cabinet3_door_bottom_left"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="1000.0" lower="0.0" upper="1.5708" velocity="1.5708"/>
+  </joint>
+  <link name="cabinet3_door_bottom_left">
+    <visual>
+      <origin rpy="0 0 3.14" xyz="0.001 -0.3 -0.165"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet03/IAIDoorW60H80.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14" xyz="0.001 -0.3 -0.165"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet03/IAIDoorW60H80.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab3_door_bottom_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.036 -0.45 0.1"/>
+    <parent link="cabinet3_door_bottom_left"/>
+    <child link="handle_cab3_door_bottom"/>
+  </joint>
+  <link name="handle_cab3_door_bottom">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Cabinet4 -->
+  <joint name="cabinet4_joint" type="fixed">
+    <origin xyz="-0.175 1.825 1.72"/>
+    <parent link="side_A"/>
+    <child link="cabinet4"/>
+  </joint>
+  <link name="cabinet4">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet04/IAIKitchenCabinet4W100.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet04/IAIKitchenCabinet4W100.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet4_door_top_top_joint" type="revolute">
+    <origin rpy="0 0 3.14" xyz="0.07 0 0.42"/>
+    <parent link="cabinet4"/>
+    <child link="cabinet4_door_top"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000.0" lower="0" upper="2.0" velocity="1.5708"/>
+  </joint>
+  <link name="cabinet4_door_top">
+    <visual>
+      <origin rpy="0 0 3.14" xyz="0.0 0.0 -0.2"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet04/IAIDoor1W100H40.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14" xyz="0.0 0.0 -0.2"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet04/IAIDoor1W100H40.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet4_door_bottom_bottom_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.0 0.0 -0.4"/>
+    <parent link="cabinet4_door_top"/>
+    <child link="cabinet4_door_bottom"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="1000.0" lower="0.0" upper="1.5708" velocity="1.5708"/>
+    <mimic joint="cabinet4_door_top_top_joint" multiplier="1.2"/>
+  </joint>
+  <link name="cabinet4_door_bottom">
+    <visual>
+      <origin rpy="0 0 3.14" xyz="-0.014 0.0 -0.2"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet04/IAIDoor2W100H40.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14" xyz="-.014 0.0 -0.2"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet04/IAIDoor2W100H40.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab4_door_bottom_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.055 0 -0.35"/>
+    <parent link="cabinet4_door_bottom"/>
+    <child link="handle_cab4_door_bottom"/>
+  </joint>
+  <link name="handle_cab4_door_bottom">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Cabinet5 -->
+  <joint name="cabinet5_joint" type="fixed">
+    <origin xyz="-0.121 1.625 0.4"/>
+    <parent link="side_A"/>
+    <child link="cabinet5"/>
+  </joint>
+  <link name="cabinet5">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenCabinet5W60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenCabinet5W60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet5_drawer_top_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.03 0.0 0.327"/>
+    <parent link="cabinet5"/>
+    <child link="cabinet5_drawer_top"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet5_drawer_top">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenDrawerW60H13.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenDrawerW60H13.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab5_top_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.245 0 0.05"/>
+    <parent link="cabinet5_drawer_top"/>
+    <child link="handle_cab5_t"/>
+  </joint>
+  <link name="handle_cab5_t">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet5_drawer_middle_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.027 0.0 0.107"/>
+    <parent link="cabinet5"/>
+    <child link="cabinet5_drawer_middle"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet5_drawer_middle">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenDrawerW60H26.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenDrawerW60H26.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab5_mid_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.245 0 0.13"/>
+    <parent link="cabinet5_drawer_middle"/>
+    <child link="handle_cab5_m"/>
+  </joint>
+  <link name="handle_cab5_m">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet5_drawer_bottom_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.037 0.0 -0.28"/>
+    <parent link="cabinet5"/>
+    <child link="cabinet5_drawer_bottom"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet5_drawer_bottom">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenDrawerW60H40.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet05/IAIKitchenDrawerW60H40.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab5_bott_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.235 0 0.245"/>
+    <parent link="cabinet5_drawer_bottom"/>
+    <child link="handle_cab5_b"/>
+  </joint>
+  <link name="handle_cab5_b">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Cabinet6 -->
+  <joint name="cabinet6_joint" type="fixed">
+    <origin xyz="-0.121 2.127 0.4"/>
+    <parent link="side_A"/>
+    <child link="cabinet6"/>
+  </joint>
+  <link name="cabinet6">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenCabinet6W40.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenCabinet6W40.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet6_drawer_top_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.033 -0.0125 0.328"/>
+    <parent link="cabinet6"/>
+    <child link="cabinet6_drawer_top"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet6_drawer_top">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenDrawerW40H13.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenDrawerW40H13.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab6_top_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.238 0 0.05"/>
+    <parent link="cabinet6_drawer_top"/>
+    <child link="handle_cab6_t"/>
+  </joint>
+  <link name="handle_cab6_t">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet6_drawer_middle_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.03 0.0 0.105"/>
+    <parent link="cabinet6"/>
+    <child link="cabinet6_drawer_middle"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet6_drawer_middle">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenDrawerW40H26.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenDrawerW40H26.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab6_mid_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.245 0 0.13"/>
+    <parent link="cabinet6_drawer_middle"/>
+    <child link="handle_cab6_m"/>
+  </joint>
+  <link name="handle_cab6_m">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet6_drawer_bottom_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.047 0.0 -0.28"/>
+    <parent link="cabinet6"/>
+    <child link="cabinet6_drawer_bottom"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet6_drawer_bottom">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenDrawerW40H40.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet06/IAIKitchenDrawerW40H40.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab6_bott_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.227 0 0.245"/>
+    <parent link="cabinet6_drawer_bottom"/>
+    <child link="handle_cab6_b"/>
+  </joint>
+  <link name="handle_cab6_b">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- - - - - - - - - - - - - - - Cabinets side B - - - - - - - - - - - - - - -->
+  <!-- Dishwasher: Cabinet 7 -->
+  <joint name="cabinet7_joint" type="fixed">
+    <origin xyz="0.2 0.501 0.47"/>
+    <parent link="side_B"/>
+    <child link="cabinet7"/>
+  </joint>
+  <link name="cabinet7">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet07/IAIKitchenCabinet7W60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet07/IAIKitchenCabinet7W60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet7_door_bottom_left_joint" type="revolute">
+    <origin rpy="0 0 3.14" xyz="0.372 0 -0.45"/>
+    <parent link="cabinet7"/>
+    <child link="cabinet7_door_bottom_left"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="1000.0" lower="0.0" upper="1.5708" velocity="1.5708"/>
+  </joint>
+  <link name="cabinet7_door_bottom_left">
+    <visual>
+      <origin xyz="0 0 0.385"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet07/IAIKitchenDoorW60H80.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.385"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet07/IAIKitchenDoorW60H80.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab7_top_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.06 0 0.74"/>
+    <parent link="cabinet7_door_bottom_left"/>
+    <child link="handle_cab7"/>
+  </joint>
+  <link name="handle_cab7">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- dishwasher rack -->
+  <joint name="dishwasher_drawer_middle_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="-0.065 0.03 0.08"/>
+    <parent link="cabinet7"/>
+    <child link="dishwasher_drawer_middle"/>
+    <axis xyz="-1 0  0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="dishwasher_drawer_middle">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet07/dishwasher_drawer_middle.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet07/dishwasher_drawer_middle.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab7_drawer_middle_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.315 0 0.068"/>
+    <parent link="dishwasher_drawer_middle"/>
+    <child link="handle_cab7_middle"/>
+  </joint>
+  <link name="handle_cab7_middle">
+    <visual>
+      <origin rpy="-1.57 0 0"/>
+      <geometry>
+        <box size="0.015 0.325 0.021"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="-1.57 0 0"/>
+      <geometry>
+        <box size="0.015 0.325 0.021"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Cabinet 8 -->
+  <joint name="cabinet8_joint" type="fixed">
+    <origin xyz="0.256 1.102 0.006"/>
+    <parent link="side_B"/>
+    <child link="cabinet8"/>
+  </joint>
+  <link name="cabinet8">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet08/IAIKitchenCabinet8W60_v2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet08/IAIKitchenCabinet8W60_v2.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet8_drawer_middle_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.05 0.0 0.48"/>
+    <parent link="cabinet8"/>
+    <child link="cabinet8_drawer_middle"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.40" velocity="0.5"/>
+  </joint>
+  <link name="cabinet8_drawer_middle">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet08/IAIKitchenDrawerW56H10.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet08/IAIKitchenDrawerW56H10.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet8_drawer_bottom_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.114 0.0 0.105"/>
+    <parent link="cabinet8"/>
+    <child link="cabinet8_drawer_bottom"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet8_drawer_bottom">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet08/IAIKitchenDrawerW60H80.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet08/IAIKitchenDrawerW60H80.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab8_top_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.238 0 0.65"/>
+    <parent link="cabinet8_drawer_bottom"/>
+    <child link="handle_cab8"/>
+  </joint>
+  <link name="handle_cab8">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Cabinet9 -->
+  <joint name="cabinet9_joint" type="fixed">
+    <origin xyz="0.333 1.703 0.394"/>
+    <parent link="side_B"/>
+    <child link="cabinet9"/>
+  </joint>
+  <link name="cabinet9">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenCabinet9W60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenCabinet9W60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet9_drawer_top_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.03 0.0 0.327"/>
+    <parent link="cabinet9"/>
+    <child link="cabinet9_drawer_top"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet9_drawer_top">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenDrawerW60H13.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenDrawerW60H13.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab9_top_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.245 0 0.05"/>
+    <parent link="cabinet9_drawer_top"/>
+    <child link="handle_cab9_t"/>
+  </joint>
+  <link name="handle_cab9_t">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet9_drawer_middle_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.027 0.0 0.106"/>
+    <parent link="cabinet9"/>
+    <child link="cabinet9_drawer_middle"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet9_drawer_middle">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenDrawerW60H26.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenDrawerW60H26.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab9_mid_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.245 0 0.13"/>
+    <parent link="cabinet9_drawer_middle"/>
+    <child link="handle_cab9_m"/>
+  </joint>
+  <link name="handle_cab9_m">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet9_drawer_bottom_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.036 0.0 -0.281"/>
+    <parent link="cabinet9"/>
+    <child link="cabinet9_drawer_bottom"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet9_drawer_bottom">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenDrawerW60H40.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet09/IAIKitchenDrawerW60H40.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab9_bott_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.24 0 0.245"/>
+    <parent link="cabinet9_drawer_bottom"/>
+    <child link="handle_cab9_b"/>
+  </joint>
+  <link name="handle_cab9_b">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Cabinet 10 -->
+  <joint name="cabinet10_joint" type="fixed">
+    <origin xyz="0.333 2.204 0.394"/>
+    <parent link="side_B"/>
+    <child link="cabinet10"/>
+  </joint>
+  <link name="cabinet10">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenCabinet9W40.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenCabinet9W40.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet10_drawer_top_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.033 0.0 0.326"/>
+    <parent link="cabinet10"/>
+    <child link="cabinet10_drawer_top"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet10_drawer_top">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenDrawerW40H13.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenDrawerW40H13.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab10_top_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.243 0 0.05"/>
+    <parent link="cabinet10_drawer_top"/>
+    <child link="handle_cab10_t"/>
+  </joint>
+  <link name="handle_cab10_t">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet10_drawer_middle_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.031 0.0 0.104"/>
+    <parent link="cabinet10"/>
+    <child link="cabinet10_drawer_middle"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet10_drawer_middle">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenDrawerW40H26.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenDrawerW40H26.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab10_mid_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.245 0 0.13"/>
+    <parent link="cabinet10_drawer_middle"/>
+    <child link="handle_cab10_m"/>
+  </joint>
+  <link name="handle_cab10_m">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet10_drawer_bottom_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.03 0.0 -0.279"/>
+    <parent link="cabinet10"/>
+    <child link="cabinet10_drawer_bottom"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet10_drawer_bottom">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenDrawerW40H40.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet10/IAIKitchenDrawerW40H40.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab10_bott_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.245 0 0.245"/>
+    <parent link="cabinet10_drawer_bottom"/>
+    <child link="handle_cab10_b"/>
+  </joint>
+  <link name="handle_cab10_b">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Cabinet 11 -->
+  <joint name="cabinet11_joint" type="fixed">
+    <origin xyz="0.333 2.855 0.394"/>
+    <parent link="side_B"/>
+    <child link="cabinet11"/>
+  </joint>
+  <link name="cabinet11">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenCabinet11W90.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenCabinet11W90.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet11_drawer_top_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.03 0.0 0.326"/>
+    <parent link="cabinet11"/>
+    <child link="cabinet11_drawer_top"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet11_drawer_top">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenDrawerW90H13.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenDrawerW90H13.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab11_top_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.243 0 0.05"/>
+    <parent link="cabinet11_drawer_top"/>
+    <child link="handle_cab11_t"/>
+  </joint>
+  <link name="handle_cab11_t">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet11_drawer_middle_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.027 0.0 0.106"/>
+    <parent link="cabinet11"/>
+    <child link="cabinet11_drawer_middle"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet11_drawer_middle">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenDrawerW90H26.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenDrawerW90H26.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab11_mid_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.245 0 0.13"/>
+    <parent link="cabinet11_drawer_middle"/>
+    <child link="handle_cab11_m"/>
+  </joint>
+  <link name="handle_cab11_m">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="cabinet11_drawer_bottom_joint" type="prismatic">
+    <origin rpy="0 0 3.14" xyz="0.045 0.0 -0.286"/>
+    <parent link="cabinet11"/>
+    <child link="cabinet11_drawer_bottom"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000.0" lower="0.0" upper="0.45" velocity="0.5"/>
+  </joint>
+  <link name="cabinet11_drawer_bottom">
+    <visual>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenDrawerW90H40.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cabinet11/IAIKitchenDrawerW90H40.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="handle_cab11_bott_joint" type="fixed">
+    <origin rpy="1.57 0 0" xyz="-0.228 0 0.245"/>
+    <parent link="cabinet11_drawer_bottom"/>
+    <child link="handle_cab11_b"/>
+  </joint>
+  <link name="handle_cab11_b">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/handles/handle_horizontal.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Miscellaneous -->
+  <!-- Island, Main Countertop -->
+  <joint name="island_countertop_joint" type="fixed">
+    <origin xyz="0.13 1.786 0.807"/>
+    <parent link="side_B"/>
+    <child link="island_countertop"/>
+  </joint>
+  <link name="island_countertop">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/island/IAIKitchenIslandAreaTop.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/island/IAIKitchenIslandAreaTop.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Cooktop -->
+  <joint name="cooktop_joint" type="fixed">
+    <origin xyz="0.130 1.074 0.023"/>
+    <parent link="island_countertop"/>
+    <child link="cooktop"/>
+  </joint>
+  <link name="cooktop">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cooktop/IAIKitchenCookTop.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/cooktop/IAIKitchenCookTop.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="hotplate1_joint" type="fixed">
+    <origin xyz="0.1069 -0.16199 0.005"/>
+    <parent link="cooktop"/>
+    <child link="hotplate1"/>
+  </joint>
+  <link name="hotplate1"/>
+  <joint name="hotplate2_joint" type="fixed">
+    <origin xyz="0.066902 0.13801 0.0055"/>
+    <parent link="cooktop"/>
+    <child link="hotplate2"/>
+  </joint>
+  <link name="hotplate2"/>
+  <joint name="hotplate3_joint" type="fixed">
+    <origin xyz="-0.155778 0.138013 0.0055"/>
+    <parent link="cooktop"/>
+    <child link="hotplate3"/>
+  </joint>
+  <link name="hotplate3"/>
+  <joint name="hotplate4_joint" type="fixed">
+    <origin xyz="-0.115778 -0.161987 0.005333"/>
+    <parent link="cooktop"/>
+    <child link="hotplate4"/>
+  </joint>
+  <link name="hotplate4"/>
+  <!-- Sink, Kitchen Sink -->
+  <joint name="sink_joint" type="fixed">
+    <origin xyz="0.198 -0.698 -0.038"/>
+    <parent link="island_countertop"/>
+    <child link="sink"/>
+  </joint>
+  <link name="sink">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/sink/IAIKitchenSink.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/sink/IAIKitchenSink.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Tap, Water Tap -->
+  <joint name="tap_joint" type="revolute">
+    <origin xyz="-0.228 -0.003 0.164"/>
+    <parent link="sink"/>
+    <child link="tap_body"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="-1.5708" upper="1.5708" velocity="1.5708"/>
+  </joint>
+  <link name="tap_body">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/tap/IAIKitchenWaterTapBody.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.5708 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/tap/IAIKitchenWaterTapBody.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="tap_handle_open_joint" type="revolute">
+    <origin xyz="0.001233 0.038489 -0.055395"/>
+    <parent link="tap_body"/>
+    <child link="tap_handle_open"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000.0" lower="-1.5708" upper="1.5708" velocity="1.5708"/>
+  </joint>
+  <link name="tap_handle_open"/>
+  <joint name="tap_handle_hot_cold_joint" type="revolute">
+    <origin rpy="0 0.5 0"/>
+    <parent link="tap_handle_open"/>
+    <child link="tap_handle"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000.0" lower="-0.5" upper="0" velocity="1.5708"/>
+  </joint>
+  <link name="tap_handle">
+    <visual>
+      <origin rpy="0 0.5 0"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/tap/IAIKitchenWaterTapHandle.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.5708 0.5 0"/>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/tap/IAIKitchenWaterTapHandle.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- floor socket: A -->
+  <joint name="socket_a_joint" type="fixed">
+    <origin xyz="0.095 1.02 -0.03"/>
+    <parent link="side_A"/>
+    <child link="useless_underbar_a"/>
+  </joint>
+  <link name="useless_underbar_a">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/floor_socket_side_a/IAIKitchenPartSocketW260.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/floor_socket_side_a/IAIKitchenPartSocketW260.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- floor socket: B -->
+  <joint name="socket_b_joint" type="fixed">
+    <origin xyz="0.552 1.755 -0.045"/>
+    <parent link="side_B"/>
+    <child link="useless_underbar_b"/>
+  </joint>
+  <link name="useless_underbar_b">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/floor_socket_side_b/IAIKitchenPartSocketW310.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/floor_socket_side_b/IAIKitchenPartSocketW310.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- Side A countertop -->
+  <joint name="countertop_joint" type="fixed">
+    <origin xyz="-0.027 0.21 0.423"/>
+    <parent link="cabinet5"/>
+    <child link="countertop"/>
+  </joint>
+  <link name="countertop">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/countertop/IAIKitchenPartW102H60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/countertop/IAIKitchenPartW102H60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="coffe_machine_joint" type="fixed">
+    <origin xyz="0 0.3 0.2"/>
+    <parent link="countertop"/>
+    <child link="coffe_machine"/>
+  </joint>
+  <link name="coffe_machine">
+    <visual>
+      <geometry>
+        <box size="0.58 0.33 0.41"/>
+      </geometry>
+      <material name="oven_gray"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.58 0.32 0.41"/>
+      </geometry>
+      <material name="oven_gray"/>
+    </collision>
+  </link>
+  <!-- island waterfall, left side -->
+  <joint name="island_waterfall_left_joint" type="fixed">
+    <origin rpy="1.57 0 1.57" xyz="0.285 0.191 0.354"/>
+    <parent link="side_B"/>
+    <child link="island_waterfall_left"/>
+  </joint>
+  <link name="island_waterfall_left">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartIslandUnderSideW90H60/IAIKitchenVisiblePartIslandUnderSideW90H60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartIslandUnderSideW90H60/IAIKitchenVisiblePartIslandUnderSideW90H60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- island waterfall, right side -->
+  <joint name="island_waterfall_right_joint" type="fixed">
+    <origin rpy="1.57 0 1.57" xyz="0.285 3.315 0.354"/>
+    <parent link="side_B"/>
+    <child link="island_waterfall_right"/>
+  </joint>
+  <link name="island_waterfall_right">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartIslandUnderSideW90H60/IAIKitchenVisiblePartIslandUnderSideW90H60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartIslandUnderSideW90H60/IAIKitchenVisiblePartIslandUnderSideW90H60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- island, back panel -->
+  <joint name="island_back_joint" type="fixed">
+    <origin rpy="0 1.57 0" xyz="-0.026 1.754 0.353"/>
+    <parent link="side_B"/>
+    <child link="island_back"/>
+  </joint>
+  <link name="island_back">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/IAIKitchenPartW314H90/IAIKitchenPartW314H90.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/IAIKitchenPartW314H90/IAIKitchenPartW314H90.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- side A left panel -->
+  <joint name="side_A_left_joint" type="fixed">
+    <origin rpy="0 0 1.57" xyz="-0.16 -0.296 1.030"/>
+    <parent link="side_A"/>
+    <child link="side_A_left"/>
+  </joint>
+  <link name="side_A_left">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/IAIKitchenPartW58H223/IAIKitchenPartW58H223.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/IAIKitchenPartW58H223/IAIKitchenPartW58H223.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- side A right panel up -->
+  <joint name="side_A_right_top_joint" type="fixed">
+    <origin rpy="0 0 1.57" xyz="-0.262 2.336 1.74"/>
+    <parent link="side_A"/>
+    <child link="side_A_rt"/>
+  </joint>
+  <link name="side_A_rt">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartUppersideW80H39/IAIKitchenVisiblePartUppersideW80H39.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartUppersideW80H39/IAIKitchenVisiblePartUppersideW80H39.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- side A right panel bottom -->
+  <joint name="side_A_right_bott_joint" type="fixed">
+    <origin rpy="1.57 0 1.57" xyz="-0.159 2.338 0.361"/>
+    <parent link="side_A"/>
+    <child link="side_A_rb"/>
+  </joint>
+  <link name="side_A_rb">
+    <visual>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartUnderSideW90H58/IAIKitchenVisiblePartUnderSideW90H58.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://iai_apartment/meshes/IAIKitchenVisiblePartUnderSideW90H58/IAIKitchenVisiblePartUnderSideW90H58.obj"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
diff --git a/resources/box.urdf b/resources/box.urdf
new file mode 100644
index 000000000..6d6ee16ab
--- /dev/null
+++ b/resources/box.urdf
@@ -0,0 +1,9 @@
+<robot name="bowl_object">
+                      <link name="right_leg">
+    <collision>
+        <geometry>
+           <box size="0.6 0.1 0.2"/>
+        </geometry>
+      </collision>
+    </link>
+                     </robot>
\ No newline at end of file
diff --git a/resources/broken_kitchen.urdf b/resources/broken_kitchen.urdf
new file mode 100644
index 000000000..f0e67c338
--- /dev/null
+++ b/resources/broken_kitchen.urdf
@@ -0,0 +1,3257 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from iai_kitchen_python.urdf.xacro  | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="iai_kitchen">
+  <!--- FIXME THIS should NOT be here -->
+  <!--
+      <link name="map">
+      
+      <sphere_inertia radius="0" mass="0"/>
+      </link>
+      <iai_drawer_60_14 name="drawer_1" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 1"/>
+      </iai_drawer_60_14>
+      
+      <iai_drawer_80_14 name="drawer_2" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 2"/>
+      </iai_drawer_80_14>
+      
+      <iai_drawer_60_29 name="drawer_3" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 3"/>
+      </iai_drawer_60_29>
+      
+      <iai_drawer_80_29 name="drawer_4" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 4"/>
+      </iai_drawer_80_29>
+      
+      <iai_drawer_100_29 name="drawer_5" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 5"/>
+      </iai_drawer_100_29>
+  -->
+  <!--- FIXME THIS should NOT be here -->
+  <!--
+  <link name="oven_footprint">
+    
+    <xacro:sphere_inertia radius="0" mass="0"/>
+  </link>
+  <iai_oven name="iai_oven" parent="oven_footprint"/>
+  -->
+  <!--- FIXME THIS should NOT be here -->
+  <!--
+      <link name="map">
+      
+      <sphere_inertia radius="0" mass="0"/>
+      </link>
+      <iai_drawer_60_14 name="drawer_1" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 1"/>
+      </iai_drawer_60_14>
+      
+      <iai_drawer_80_14 name="drawer_2" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 2"/>
+      </iai_drawer_80_14>
+      
+      <iai_drawer_60_29 name="drawer_3" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 3"/>
+      </iai_drawer_60_29>
+      
+      <iai_drawer_80_29 name="drawer_4" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 4"/>
+      </iai_drawer_80_29>
+      
+      <iai_drawer_100_29 name="drawer_5" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 5"/>
+      </iai_drawer_100_29>
+  -->
+  <!--- FIXME THIS should NOT be here -->
+  <!--
+      <link name="map">
+      
+      <sphere_inertia radius="0" mass="0"/>
+      </link>
+      <iai_drawer_60_14 name="drawer_1" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 1"/>
+      </iai_drawer_60_14>
+      
+      <iai_drawer_80_14 name="drawer_2" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 2"/>
+      </iai_drawer_80_14>
+      
+      <iai_drawer_60_29 name="drawer_3" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 3"/>
+      </iai_drawer_60_29>
+      
+      <iai_drawer_80_29 name="drawer_4" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 4"/>
+      </iai_drawer_80_29>
+      
+      <iai_drawer_100_29 name="drawer_5" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 5"/>
+      </iai_drawer_100_29>
+  -->
+  <!--- FIXME THIS should NOT be here -->
+  <!--
+      <link name="map">
+      
+      <sphere_inertia radius="0" mass="0"/>
+      </link>
+      <iai_drawer_60_14 name="drawer_1" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 1"/>
+      </iai_drawer_60_14>
+      
+      <iai_drawer_80_14 name="drawer_2" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 2"/>
+      </iai_drawer_80_14>
+      
+      <iai_drawer_60_29 name="drawer_3" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 3"/>
+      </iai_drawer_60_29>
+      
+      <iai_drawer_80_29 name="drawer_4" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 4"/>
+      </iai_drawer_80_29>
+      
+      <iai_drawer_100_29 name="drawer_5" parent="map">
+      <origin rpy="0 0 0" xyz="0 0 5"/>
+      </iai_drawer_100_29>
+  -->
+  <link name="room_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+  </link>
+  <link name="world"/>
+  <joint name="world_room_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.03 0 "/>
+    <parent link="world"/>
+    <child link="room_link"/>
+  </joint>
+  <link name="sink_area_footprint">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+  </link>
+  <link name="sink_area">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/SinkArea.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_footprint_joint" type="fixed">
+    <origin rpy="0 0 3.141592653589793" xyz="1.855 1.3 0"/>
+    <child link="sink_area_footprint"/>
+    <parent link="room_link"/>
+  </joint>
+  <joint name="sink_area_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.29 1.03 0.41"/>
+    <parent link="sink_area_footprint"/>
+    <child link="sink_area"/>
+  </joint>
+  <link name="sink_area_surface">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.225 0"/>
+      <geometry>
+        <box size="0.575 1.6 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_surface_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0. 0.43"/>
+    <parent link="sink_area"/>
+    <child link="sink_area_surface"/>
+  </joint>
+  <link name="sink_area_sink">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/Sink.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/Sink.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_sink_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.005 0.47 0.4414"/>
+    <parent link="sink_area"/>
+    <child link="sink_area_sink"/>
+  </joint>
+  <link name="sink_area_right_panel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_right_panel_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.28 0.7 0.355 "/>
+    <parent link="sink_area"/>
+    <child link="sink_area_right_panel"/>
+  </joint>
+  <link name="sink_area_trash_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_trash_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_trash_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.01 0.7 -0.015 "/>
+    <parent link="sink_area"/>
+    <child link="sink_area_trash_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="sink_area_trash_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.37 0 0.25"/>
+    <parent link="sink_area_trash_drawer_main"/>
+    <child link="sink_area_trash_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.5707963267948966" velocity="10"/>
+  </joint>
+  <link name="sink_area_left_upper_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_14.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_14.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_left_upper_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_left_upper_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.01 -0.6 0.345 "/>
+    <parent link="sink_area"/>
+    <child link="sink_area_left_upper_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="sink_area_left_upper_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.0175"/>
+    <parent link="sink_area_left_upper_drawer_main"/>
+    <child link="sink_area_left_upper_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.5707963267948966" velocity="10"/>
+  </joint>
+  <link name="sink_area_left_middle_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_left_middle_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_left_middle_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.01 -0.6 0.12 "/>
+    <parent link="sink_area"/>
+    <child link="sink_area_left_middle_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="sink_area_left_middle_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
+    <parent link="sink_area_left_middle_drawer_main"/>
+    <child link="sink_area_left_middle_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.5707963267948966" velocity="10"/>
+  </joint>
+  <link name="sink_area_left_bottom_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_80_29.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_left_bottom_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle80.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_left_bottom_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.01 -0.6 -0.18"/>
+    <parent link="sink_area"/>
+    <child link="sink_area_left_bottom_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="sink_area_left_bottom_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
+    <parent link="sink_area_left_bottom_drawer_main"/>
+    <child link="sink_area_left_bottom_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.5707963267948966" velocity="10"/>
+  </joint>
+  <link name="sink_area_dish_washer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/DishWasher.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_dish_washer_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0.055 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0.055 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/DishWasherDoor.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_dish_washer_door_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!--
+    <xacro:if value="simulated"/>
+    -->
+  <joint name="sink_area_dish_washer_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01 0.1 0.06"/>
+    <parent link="sink_area"/>
+    <child link="sink_area_dish_washer_main"/>
+  </joint>
+  <!--
+    <xacro:if value="${simulated}">
+    <joint name="${name}_door_joint" type="revolute">
+      <origin xyz="0.27 0. -0.325" rpy="${-0.5*pi} 0 0" />
+      <parent link="${name}_main"/>
+      <child link="${name}_door"/>
+      <axis xyz="0 0 1"/>
+       FIXME make closed position stable instead of forbidding opening...
+      <limit lower="0" upper="0" effort="300" velocity="10"/>
+    </joint>
+
+    </xacro:if>
+    -->
+  <!--
+    <xacro:unless value="${simulated}">
+    -->
+  <joint name="sink_area_dish_washer_door_joint" type="revolute">
+    <origin rpy="-1.5707963267948966 0 0" xyz="0.27 0. -0.285"/>
+    <parent link="sink_area_dish_washer_main"/>
+    <child link="sink_area_dish_washer_door"/>
+    <axis xyz="0 0 1"/>
+    <!--
+      <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
+      -->
+    <limit effort="300" lower="0" upper="1.5707963267948966" velocity="10"/>
+  </joint>
+  <!--
+    </xacro:unless>
+  -->
+  <joint name="sink_area_dish_washer_door_handle_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0 0" xyz="0.085 -0.575 0.0"/>
+    <parent link="sink_area_dish_washer_door"/>
+    <child link="sink_area_dish_washer_door_handle"/>
+  </joint>
+  <joint name="sink_area_dish_washer_tray_main" type="prismatic">
+    <origin xyz="-0.08 0 0.15"/>
+    <parent link="sink_area_dish_washer_main"/>
+    <child link="sink_area_dish_washer_tray_bottom"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <link name="sink_area_dish_washer_tray_bottom">
+    <visual>
+      <geometry>
+        <box size="0.32 0.5 0.05"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.32 0.5 0.05"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_dish_washer_tray_left_side">
+    <visual>
+      <geometry>
+        <box size="0.32 0.005 0.17"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.32 0.005 0.17"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_dish_washer_tray_right_side">
+    <visual>
+      <geometry>
+        <box size="0.32 0.005 0.17"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.32 0.005 0.17"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_dish_washer_tray_back_side">
+    <visual>
+      <geometry>
+        <box size="0.005 0.5 0.17"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.005 0.5 0.17"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_dish_washer_tray_front_side">
+    <visual>
+      <geometry>
+        <box size="0.005 0.5 0.17"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.005 0.5 0.17"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_dish_washer_tray_bottom_left" type="fixed">
+    <origin xyz="-0.0 -0.25 0.075"/>
+    <child link="sink_area_dish_washer_tray_left_side"/>
+    <parent link="sink_area_dish_washer_tray_bottom"/>
+  </joint>
+  <joint name="sink_area_dish_washer_tray_bottom_right" type="fixed">
+    <origin xyz="-0.0 0.25 0.075"/>
+    <child link="sink_area_dish_washer_tray_right_side"/>
+    <parent link="sink_area_dish_washer_tray_bottom"/>
+  </joint>
+  <joint name="sink_area_dish_washer_tray_bottom_back" type="fixed">
+    <origin xyz="-0.16 0 0.075"/>
+    <child link="sink_area_dish_washer_tray_back_side"/>
+    <parent link="sink_area_dish_washer_tray_bottom"/>
+  </joint>
+  <joint name="sink_area_dish_washer_tray_bottom_front" type="fixed">
+    <origin xyz="0.16 0 0.075"/>
+    <child link="sink_area_dish_washer_tray_front_side"/>
+    <parent link="sink_area_dish_washer_tray_bottom"/>
+  </joint>
+  <joint name="sink_area_dish_washer_tray_handle_joint" type="fixed">
+    <origin xyz="0.20 -0.1 -0.02"/>
+    <child link="sink_area_dish_washer_tray_handle_front_side"/>
+    <parent link="sink_area_dish_washer_tray_front_side"/>
+  </joint>
+  <link name="sink_area_dish_washer_tray_handle_left_side">
+    <visual>
+      <geometry>
+        <box size="0.03 0.01 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.03 0.01 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_dish_washer_tray_handle_right_side">
+    <visual>
+      <geometry>
+        <box size="0.03 0.01 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.03 0.01 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="sink_area_dish_washer_tray_handle_front_side">
+    <visual>
+      <geometry>
+        <box size="0.01 0.2 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.01 0.2 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="sink_area_dish_washer_tray_handle_front_left_joint" type="fixed">
+    <origin xyz="-0.01 -0.1 0"/>
+    <child link="sink_area_dish_washer_tray_handle_left_side"/>
+    <parent link="sink_area_dish_washer_tray_handle_front_side"/>
+  </joint>
+  <joint name="sink_area_dish_washer_tray_handle_front_right_joint" type="fixed">
+    <origin xyz="-0.01 0.1 0"/>
+    <child link="sink_area_dish_washer_tray_handle_right_side"/>
+    <parent link="sink_area_dish_washer_tray_handle_front_side"/>
+  </joint>
+  <link name="oven_area_area_footprint">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+  </link>
+  <link name="oven_area_area">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/OvenArea.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_footprint_joint" type="fixed">
+    <origin rpy="0 0 3.141592653589793" xyz="1.845 2.5 0"/>
+    <child link="oven_area_area_footprint"/>
+    <parent link="room_link"/>
+  </joint>
+  <joint name="oven_area_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.29 0.6 0.755"/>
+    <parent link="oven_area_area_footprint"/>
+    <child link="oven_area_area"/>
+  </joint>
+  <!-- LINKS -->
+  <link name="oven_area_oven_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenMain.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_oven_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenDoor.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenDoor.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_oven_door_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_oven_panel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenPanel.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/OvenPanel.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- JOINTS -->
+  <joint name="oven_area_oven_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.415"/>
+    <parent link="oven_area_area"/>
+    <child link="oven_area_oven_main"/>
+  </joint>
+  <joint name="oven_area_oven_door_joint" type="revolute">
+    <origin rpy="-1.5707963267948966 0 0" xyz="0.2737 0. -0.2614"/>
+    <parent link="oven_area_oven_main"/>
+    <child link="oven_area_oven_door"/>
+    <axis xyz="0 0 1"/>
+    <!--
+        <limit lower="0" upper="${0.5*pi}" effort="300" velocity="10"/>
+        -->
+    <!-- FIXME make the closed position stable -->
+    <limit effort="0.03" lower="0" upper="1.5707963267948966" velocity="10"/>
+    <dynamics damping="100.1"/>
+  </joint>
+  <gazebo reference="oven_area_oven_door_joint">
+    <kp>1000000000</kp>
+    <kd>1000000000</kd>
+  </gazebo>
+  <joint name="oven_area_oven_door_handle_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0 0" xyz="0.05876 -0.39803 0."/>
+    <parent link="oven_area_oven_door"/>
+    <child link="oven_area_oven_door_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.5707963267948966" velocity="10"/>
+  </joint>
+  <joint name="oven_area_oven_panel_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.27 0 0.2449"/>
+    <parent link="oven_area_oven_main"/>
+    <child link="oven_area_oven_panel"/>
+  </joint>
+  <!--KNOBS -->
+  <link name="oven_area_oven_knob_stove_2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_oven_knob_stove_2_joint" type="revolute">
+    <origin rpy="0 -1.5707963267948966 0" xyz="0 -0.14 0"/>
+    <parent link="oven_area_oven_panel"/>
+    <child link="oven_area_oven_knob_stove_2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="3.141592653589793" velocity="10"/>
+  </joint>
+  <link name="oven_area_oven_knob_stove_1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_oven_knob_stove_1_joint" type="revolute">
+    <origin rpy="0 -1.5707963267948966 0" xyz="0 -0.21 0"/>
+    <parent link="oven_area_oven_panel"/>
+    <child link="oven_area_oven_knob_stove_1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="3.141592653589793" velocity="10"/>
+  </joint>
+  <link name="oven_area_oven_knob_stove_3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_oven_knob_stove_3_joint" type="revolute">
+    <origin rpy="0 -1.5707963267948966 0" xyz="0 -0.07 0"/>
+    <parent link="oven_area_oven_panel"/>
+    <child link="oven_area_oven_knob_stove_3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="3.141592653589793" velocity="10"/>
+  </joint>
+  <link name="oven_area_oven_knob_stove_4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_oven_knob_stove_4_joint" type="revolute">
+    <origin rpy="0 -1.5707963267948966 0" xyz="0 -0.0 0"/>
+    <parent link="oven_area_oven_panel"/>
+    <child link="oven_area_oven_knob_stove_4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="3.141592653589793" velocity="10"/>
+  </joint>
+  <link name="oven_area_oven_knob_oven">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/oven/Knob.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_oven_knob_oven_joint" type="revolute">
+    <origin rpy="0 -1.5707963267948966 0" xyz="0 0.16 0"/>
+    <parent link="oven_area_oven_panel"/>
+    <child link="oven_area_oven_knob_oven"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="3.141592653589793" velocity="10"/>
+  </joint>
+  <link name="oven_area_area_middle_upper_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_14.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_14.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_area_middle_upper_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_middle_upper_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0 -0. 0.045 "/>
+    <parent link="oven_area_area"/>
+    <child link="oven_area_area_middle_upper_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="oven_area_area_middle_upper_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.0175"/>
+    <parent link="oven_area_area_middle_upper_drawer_main"/>
+    <child link="oven_area_area_middle_upper_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.5707963267948966" velocity="10"/>
+  </joint>
+  <link name="oven_area_area_middle_lower_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_58.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_area_middle_lower_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_middle_lower_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0 -0. -0.315 "/>
+    <parent link="oven_area_area"/>
+    <child link="oven_area_area_middle_lower_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="oven_area_area_middle_lower_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.37 0 0.25"/>
+    <parent link="oven_area_area_middle_lower_drawer_main"/>
+    <child link="oven_area_area_middle_lower_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.5707963267948966" velocity="10"/>
+  </joint>
+  <joint name="oven_area_area_left_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.29 -0.45 0.07 "/>
+    <parent link="oven_area_area"/>
+    <child link="oven_area_area_left_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.025 0.3 1.33"/>
+      </geometry>
+      <material name="KitchenLightGray">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.025 0.3 1.33"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_main_padding_joint" type="fixed">
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_main_padding"/>
+    <origin rpy="0 0 0" xyz="-0.03 0.0 0.0"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_main_padding">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.06 0.3 1.33"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.06 0.3 1.33"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_handle_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0 0" xyz="0.08 0.0 0.05"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_handle"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_area_left_drawer_board_0_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.036"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.036"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_board_0_joint" type="fixed">
+    <origin xyz="-0.25 0 -0.6"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_board_0_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_0_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_0_right_joint" type="fixed">
+    <origin xyz="-0.25 -0.107 -0.568"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_0_right_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_0_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_0_left_joint" type="fixed">
+    <origin xyz="-0.25 0.107 -0.568"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_0_left_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_0_back_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.036 0.25 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.036 0.25 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_0_back_joint" type="fixed">
+    <origin xyz="-0.477 0 -0.568"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_0_back_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_board_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.036"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.036"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_board_1_joint" type="fixed">
+    <origin xyz="-0.25 0 -0.28"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_board_1_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_1_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_1_right_joint" type="fixed">
+    <origin xyz="-0.25 -0.107 -0.24800000000000003"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_1_right_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_1_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_1_left_joint" type="fixed">
+    <origin xyz="-0.25 0.107 -0.24800000000000003"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_1_left_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_1_back_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.036 0.25 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.036 0.25 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_1_back_joint" type="fixed">
+    <origin xyz="-0.477 0 -0.24800000000000003"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_1_back_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_board_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.036"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.036"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_board_2_joint" type="fixed">
+    <origin xyz="-0.25 0 0.05"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_board_2_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_2_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_2_right_joint" type="fixed">
+    <origin xyz="-0.25 -0.107 0.082"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_2_right_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_2_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_2_left_joint" type="fixed">
+    <origin xyz="-0.25 0.107 0.082"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_2_left_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_2_back_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.036 0.25 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.036 0.25 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_2_back_joint" type="fixed">
+    <origin xyz="-0.477 0 0.082"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_2_back_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_board_3_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.036"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.036"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_board_3_joint" type="fixed">
+    <origin xyz="-0.25 0 0.38"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_board_3_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_3_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_3_right_joint" type="fixed">
+    <origin xyz="-0.25 -0.107 0.412"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_3_right_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_3_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_3_left_joint" type="fixed">
+    <origin xyz="-0.25 0.107 0.412"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_3_left_link"/>
+  </joint>
+  <link name="oven_area_area_left_drawer_barrier_3_back_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.036 0.25 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.036 0.25 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_left_drawer_barrier_3_back_joint" type="fixed">
+    <origin xyz="-0.477 0 0.412"/>
+    <parent link="oven_area_area_left_drawer_main"/>
+    <child link="oven_area_area_left_drawer_barrier_3_back_link"/>
+  </joint>
+  <joint name="oven_area_area_right_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.29 0.45 0.07"/>
+    <parent link="oven_area_area"/>
+    <child link="oven_area_area_right_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.025 0.3 1.33"/>
+      </geometry>
+      <material name="KitchenLightGray">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.025 0.3 1.33"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_main_padding_joint" type="fixed">
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_main_padding"/>
+    <origin rpy="0 0 0" xyz="-0.03 0.0 0.0"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_main_padding">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.06 0.3 1.33"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.06 0.3 1.33"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_handle_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0 0" xyz="0.08 0.0 0.05"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_handle"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle130.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="oven_area_area_right_drawer_board_0_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.036"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.036"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_board_0_joint" type="fixed">
+    <origin xyz="-0.25 0 -0.6"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_board_0_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_0_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_0_right_joint" type="fixed">
+    <origin xyz="-0.25 -0.107 -0.568"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_0_right_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_0_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_0_left_joint" type="fixed">
+    <origin xyz="-0.25 0.107 -0.568"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_0_left_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_0_back_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.036 0.25 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.036 0.25 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_0_back_joint" type="fixed">
+    <origin xyz="-0.477 0 -0.568"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_0_back_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_board_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.036"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.036"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_board_1_joint" type="fixed">
+    <origin xyz="-0.25 0 -0.28"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_board_1_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_1_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_1_right_joint" type="fixed">
+    <origin xyz="-0.25 -0.107 -0.24800000000000003"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_1_right_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_1_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_1_left_joint" type="fixed">
+    <origin xyz="-0.25 0.107 -0.24800000000000003"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_1_left_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_1_back_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.036 0.25 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.036 0.25 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_1_back_joint" type="fixed">
+    <origin xyz="-0.477 0 -0.24800000000000003"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_1_back_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_board_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.036"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.036"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_board_2_joint" type="fixed">
+    <origin xyz="-0.25 0 0.05"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_board_2_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_2_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_2_right_joint" type="fixed">
+    <origin xyz="-0.25 -0.107 0.082"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_2_right_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_2_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_2_left_joint" type="fixed">
+    <origin xyz="-0.25 0.107 0.082"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_2_left_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_2_back_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.036 0.25 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.036 0.25 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_2_back_joint" type="fixed">
+    <origin xyz="-0.477 0 0.082"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_2_back_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_board_3_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.036"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.25 0.036"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_board_3_joint" type="fixed">
+    <origin xyz="-0.25 0 0.38"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_board_3_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_3_right_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_3_right_joint" type="fixed">
+    <origin xyz="-0.25 -0.107 0.412"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_3_right_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_3_left_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.49 0.036 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_3_left_joint" type="fixed">
+    <origin xyz="-0.25 0.107 0.412"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_3_left_link"/>
+  </joint>
+  <link name="oven_area_area_right_drawer_barrier_3_back_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.036 0.25 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.036 0.25 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="oven_area_area_right_drawer_barrier_3_back_joint" type="fixed">
+    <origin xyz="-0.477 0 0.412"/>
+    <parent link="oven_area_area_right_drawer_main"/>
+    <child link="oven_area_area_right_drawer_barrier_3_back_link"/>
+  </joint>
+  <link name="kitchen_island_footprint">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+  </link>
+  <link name="kitchen_island">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/IslandArea.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/IslandArea.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_footprint_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-1.363 0.59 0"/>
+    <child link="kitchen_island_footprint"/>
+    <parent link="room_link"/>
+  </joint>
+  <joint name="kitchen_island_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.2975 1.1292 0.421"/>
+    <parent link="kitchen_island_footprint"/>
+    <child link="kitchen_island"/>
+  </joint>
+  <link name="kitchen_island_surface">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.8 2.45 0.02"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_surface_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0. 0.42"/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_surface"/>
+  </joint>
+  <link name="kitchen_island_stove">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/Stove.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/Stove.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_stove_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.7658 0.4315"/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_stove"/>
+  </joint>
+  <link name="kitchen_island_left_panel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_left_panel_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.2725 -0.8 0.329 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_left_panel"/>
+  </joint>
+  <link name="kitchen_island_left_upper_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_island_left_upper_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_left_upper_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0025 -0.8 0.114 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_left_upper_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="kitchen_island_left_upper_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
+    <parent link="kitchen_island_left_upper_drawer_main"/>
+    <child link="kitchen_island_left_upper_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.5707963267948966" velocity="10"/>
+  </joint>
+  <link name="kitchen_island_left_lower_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_island_left_lower_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_left_lower_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0025 -0.8 -0.176 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_left_lower_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="kitchen_island_left_lower_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
+    <parent link="kitchen_island_left_lower_drawer_main"/>
+    <child link="kitchen_island_left_lower_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.5707963267948966" velocity="10"/>
+  </joint>
+  <link name="kitchen_island_middle_panel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_100.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_100.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_middle_panel_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.2725 0 0.329 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_middle_panel"/>
+  </joint>
+  <link name="kitchen_island_middle_upper_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_island_middle_upper_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_middle_upper_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0025 0 0.114 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_middle_upper_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="kitchen_island_middle_upper_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
+    <parent link="kitchen_island_middle_upper_drawer_main"/>
+    <child link="kitchen_island_middle_upper_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.5707963267948966" velocity="10"/>
+  </joint>
+  <link name="kitchen_island_middle_lower_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_100_29.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_island_middle_lower_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle100.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_middle_lower_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0025 0 -0.176 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_middle_lower_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="kitchen_island_middle_lower_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
+    <parent link="kitchen_island_middle_lower_drawer_main"/>
+    <child link="kitchen_island_middle_lower_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.5707963267948966" velocity="10"/>
+  </joint>
+  <link name="kitchen_island_right_panel">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Panel_60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_right_panel_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.2725 0.8 0.329 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_right_panel"/>
+  </joint>
+  <link name="kitchen_island_right_upper_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_island_right_upper_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_right_upper_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0025 0.8 0.114 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_right_upper_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="kitchen_island_right_upper_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
+    <parent link="kitchen_island_right_upper_drawer_main"/>
+    <child link="kitchen_island_right_upper_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.5707963267948966" velocity="10"/>
+  </joint>
+  <link name="kitchen_island_right_lower_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_island_right_lower_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="kitchen_island_right_lower_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0025 0.8 -0.176 "/>
+    <parent link="kitchen_island"/>
+    <child link="kitchen_island_right_lower_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="kitchen_island_right_lower_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
+    <parent link="kitchen_island_right_lower_drawer_main"/>
+    <child link="kitchen_island_right_lower_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.5707963267948966" velocity="10"/>
+  </joint>
+  <link name="fridge_area_footprint">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+  </link>
+  <link name="fridge_area">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.01"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.01"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/racks/FridgeArea.obj"/>
+        <!--mesh filename="package://iai_kitchen/meshes/collision/kitchen_fridge.stl"/-->
+      </geometry>
+    </collision>
+  </link>
+  <joint name="fridge_area_footprint_joint" type="fixed">
+    <origin rpy="0 0 3.141592653589793" xyz="1.845 -0.73 0"/>
+    <child link="fridge_area_footprint"/>
+    <parent link="room_link"/>
+  </joint>
+  <joint name="fridge_area_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.29 0.3 0.74"/>
+    <parent link="fridge_area_footprint"/>
+    <child link="fridge_area"/>
+  </joint>
+  <link name="fridge_area_lower_drawer_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/drawers/Drawer_60_29.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="fridge_area_lower_drawer_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/Handle60.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="fridge_area_lower_drawer_main_joint" type="prismatic">
+    <origin rpy="0 0 0" xyz="0.0 -0.0 -0.4175 "/>
+    <parent link="fridge_area"/>
+    <child link="fridge_area_lower_drawer_main"/>
+    <axis xyz="1. 0. 0.0"/>
+    <limit effort="300" lower="0" upper="0.48" velocity="10"/>
+    <!--
+          <limit effort="300" lower="0" upper="0" velocity="10"/>
+      -->
+  </joint>
+  <joint name="fridge_area_lower_drawer_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.3525 0 0.11"/>
+    <parent link="fridge_area_lower_drawer_main"/>
+    <child link="fridge_area_lower_drawer_handle"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.5707963267948966" velocity="10"/>
+  </joint>
+  <link name="iai_fridge_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/Fridge.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/Fridge.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_main_middle_level">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.29 0.50 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.29 0.50 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/FridgeDoor.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_ceiling">
+    <visual>
+      <geometry>
+        <box size="0.56 0.5 0.13"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.56 0.5 0.13"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_handle">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/handles/VHandle90.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="iai_fridge_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.25"/>
+    <parent link="fridge_area"/>
+    <child link="iai_fridge_main"/>
+  </joint>
+  <joint name="iai_fridge_main_middle_level_joint" type="fixed">
+    <parent link="iai_fridge_main"/>
+    <child link="iai_fridge_main_middle_level"/>
+    <origin rpy="0 0 0" xyz="-0.01 0 0.01"/>
+  </joint>
+  <joint name="iai_fridge_door_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.29 0.3 0"/>
+    <parent link="iai_fridge_main"/>
+    <child link="iai_fridge_door"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="300" lower="0" upper="1.5707963267948966" velocity="10"/>
+    <!--
+      <limit lower="0" upper="0" effort="300" velocity="10"/>
+-->
+  </joint>
+  <joint name="iai_fridge_ceiling_joint" type="fixed">
+    <origin xyz="0.0 0.0 0.44"/>
+    <parent link="iai_fridge_main"/>
+    <child link="iai_fridge_ceiling"/>
+  </joint>
+  <joint name="iai_fridge_door_handle_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.07 -0.57 0."/>
+    <parent link="iai_fridge_door"/>
+    <child link="iai_fridge_door_handle"/>
+  </joint>
+  <link name="iai_fridge_door_block">
+    <visual>
+      <geometry>
+        <box size="0.04 0.523 0.88"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.04 0.523 0.88"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_block_right_bar">
+    <visual>
+      <geometry>
+        <box size="0.06 0.015 0.73"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.06 0.015 0.73"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_block_left_bar">
+    <visual>
+      <geometry>
+        <box size="0.06 0.015 0.73"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.06 0.015 0.73"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_block_top_bar">
+    <visual>
+      <geometry>
+        <box size="0.045 0.46 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.045 0.46 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="iai_fridge_door_block_joint" type="fixed">
+    <origin xyz="-0.025 -0.27 -0.01"/>
+    <parent link="iai_fridge_door"/>
+    <child link="iai_fridge_door_block"/>
+  </joint>
+  <joint name="iai_fridge_door_block_right_bar_joint" type="fixed">
+    <origin xyz="-0.0425 -0.2225 0.01"/>
+    <parent link="iai_fridge_door_block"/>
+    <child link="iai_fridge_door_block_right_bar"/>
+  </joint>
+  <joint name="iai_fridge_door_block_left_bar_joint" type="fixed">
+    <origin xyz="-0.0425 0.2225 0.01"/>
+    <parent link="iai_fridge_door_block"/>
+    <child link="iai_fridge_door_block_left_bar"/>
+  </joint>
+  <joint name="iai_fridge_door_block_top_bar_joint" type="fixed">
+    <origin xyz="-0.03 0 0.37"/>
+    <parent link="iai_fridge_door_block"/>
+    <child link="iai_fridge_door_block_top_bar"/>
+  </joint>
+  <joint name="iai_fridge_door_shelf1_to_door" type="fixed">
+    <origin xyz="-0.07 0 -0.3525 "/>
+    <child link="iai_fridge_door_shelf1_bottom"/>
+    <parent link="iai_fridge_door_block"/>
+  </joint>
+  <link name="iai_fridge_door_shelf1_bottom">
+    <visual>
+      <geometry>
+        <box size="0.1 0.35 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.1 0.35 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_shelf1_left_side">
+    <visual>
+      <geometry>
+        <box size="0.115 0.06 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.115 0.06 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_shelf1_right_side">
+    <visual>
+      <geometry>
+        <box size="0.115 0.06 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.115 0.06 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_shelf1_front_side">
+    <visual>
+      <geometry>
+        <box size="0.02 0.35 0.1"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.01 0.35 0.1"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="iai_fridge_door_shelf1_left_to_bottom" type="fixed">
+    <origin xyz="-0.0025 -0.2 0.045000000000000005"/>
+    <parent link="iai_fridge_door_shelf1_bottom"/>
+    <child link="iai_fridge_door_shelf1_left_side"/>
+  </joint>
+  <joint name="iai_fridge_door_shelf1_right_to_bottom" type="fixed">
+    <origin xyz="-0.0025 0.2 0.045000000000000005"/>
+    <parent link="iai_fridge_door_shelf1_bottom"/>
+    <child link="iai_fridge_door_shelf1_right_side"/>
+  </joint>
+  <joint name="iai_fridge_door_shelf1_front_to_bottom" type="fixed">
+    <origin xyz="-0.05 0 0.045000000000000005"/>
+    <parent link="iai_fridge_door_shelf1_bottom"/>
+    <child link="iai_fridge_door_shelf1_front_side"/>
+  </joint>
+  <joint name="iai_fridge_door_shelf2_to_door" type="fixed">
+    <origin xyz="-0.07 0 0.02"/>
+    <child link="iai_fridge_door_shelf2_bottom"/>
+    <parent link="iai_fridge_door_block"/>
+  </joint>
+  <link name="iai_fridge_door_shelf2_bottom">
+    <visual>
+      <geometry>
+        <box size="0.1 0.35 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.1 0.35 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_shelf2_left_side">
+    <visual>
+      <geometry>
+        <box size="0.115 0.06 0.065"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.115 0.06 0.065"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_shelf2_right_side">
+    <visual>
+      <geometry>
+        <box size="0.115 0.06 0.065"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.115 0.06 0.065"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_shelf2_front_side">
+    <visual>
+      <geometry>
+        <box size="0.02 0.35 0.065"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.01 0.35 0.065"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="iai_fridge_door_shelf2_left_to_bottom" type="fixed">
+    <origin xyz="-0.0025 -0.2 0.0275"/>
+    <parent link="iai_fridge_door_shelf2_bottom"/>
+    <child link="iai_fridge_door_shelf2_left_side"/>
+  </joint>
+  <joint name="iai_fridge_door_shelf2_right_to_bottom" type="fixed">
+    <origin xyz="-0.0025 0.2 0.0275"/>
+    <parent link="iai_fridge_door_shelf2_bottom"/>
+    <child link="iai_fridge_door_shelf2_right_side"/>
+  </joint>
+  <joint name="iai_fridge_door_shelf2_front_to_bottom" type="fixed">
+    <origin xyz="-0.05 0 0.0275"/>
+    <parent link="iai_fridge_door_shelf2_bottom"/>
+    <child link="iai_fridge_door_shelf2_front_side"/>
+  </joint>
+  <joint name="iai_fridge_door_shelf3_to_door" type="fixed">
+    <origin xyz="-0.07 0 0.23"/>
+    <child link="iai_fridge_door_shelf3_bottom"/>
+    <parent link="iai_fridge_door_block"/>
+  </joint>
+  <link name="iai_fridge_door_shelf3_bottom">
+    <visual>
+      <geometry>
+        <box size="0.1 0.35 0.01"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.1 0.35 0.01"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_shelf3_left_side">
+    <visual>
+      <geometry>
+        <box size="0.115 0.06 0.065"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.115 0.06 0.065"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_shelf3_right_side">
+    <visual>
+      <geometry>
+        <box size="0.115 0.06 0.065"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.115 0.06 0.065"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="iai_fridge_door_shelf3_front_side">
+    <visual>
+      <geometry>
+        <box size="0.02 0.35 0.065"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.01 0.35 0.065"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="iai_fridge_door_shelf3_left_to_bottom" type="fixed">
+    <origin xyz="-0.0025 -0.2 0.0275"/>
+    <parent link="iai_fridge_door_shelf3_bottom"/>
+    <child link="iai_fridge_door_shelf3_left_side"/>
+  </joint>
+  <joint name="iai_fridge_door_shelf3_right_to_bottom" type="fixed">
+    <origin xyz="-0.0025 0.2 0.0275"/>
+    <parent link="iai_fridge_door_shelf3_bottom"/>
+    <child link="iai_fridge_door_shelf3_right_side"/>
+  </joint>
+  <joint name="iai_fridge_door_shelf3_front_to_bottom" type="fixed">
+    <origin xyz="-0.05 0 0.0275"/>
+    <parent link="iai_fridge_door_shelf3_bottom"/>
+    <child link="iai_fridge_door_shelf3_front_side"/>
+  </joint>
+  <link name="table_area_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.3619"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.3619"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/misc/big_table_1.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="table_area_main_joint" type="fixed">
+    <origin rpy="0 0 3.141592653589793" xyz="-2.4 -1.5 0"/>
+    <parent link="room_link"/>
+    <child link="table_area_main"/>
+  </joint>
+  <link name="dining_area_footprint">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+  </link>
+  <joint name="dining_area_footprint_joint" type="fixed">
+    <origin rpy="0 0 1.5707963267948966" xyz="-3.38 0.28 0"/>
+    <child link="dining_area_footprint"/>
+    <parent link="room_link"/>
+  </joint>
+  <link name="dining_area_jokkmokk_table_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkTable.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkTable.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="dining_area_jokkmokk_table_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.35"/>
+    <parent link="dining_area_footprint"/>
+    <child link="dining_area_jokkmokk_table_main"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <link name="dining_area_jokkmokk_left_chair_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="dining_area_jokkmokk_left_chair_main_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-1 0 0.5535"/>
+    <parent link="dining_area_footprint"/>
+    <child link="dining_area_jokkmokk_left_chair_main"/>
+  </joint>
+  <link name="dining_area_jokkmokk_right_chair_main">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <mesh filename="package://iai_kitchen/meshes/jokkmokk/JokkmokkChair.obj"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="dining_area_jokkmokk_right_chair_main_joint" type="fixed">
+    <origin rpy="0 0 -3.141592653589793" xyz="1 0 0.5535"/>
+    <parent link="dining_area_footprint"/>
+    <child link="dining_area_jokkmokk_right_chair_main"/>
+  </joint>
+  <!-- LINKS -->
+  <link name="kitchen_wall_1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 1.25"/>
+      <geometry>
+        <box size="1.1376 0.15 2.5"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 1.25"/>
+      <geometry>
+        <box size="1.1376 0.15 2.5"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_wall_2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 1.25"/>
+      <geometry>
+        <box size="5.182 0.15 2.5"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 1.25"/>
+      <geometry>
+        <box size="5.182 0.15 2.5"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_wall_3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 1.25"/>
+      <geometry>
+        <box size="5.901 0.15 2.5"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 1.25"/>
+      <geometry>
+        <box size="5.901 0.15 2.5"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_wall_4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.35"/>
+      <geometry>
+        <box size="4.25 0.15 0.7"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.35"/>
+      <geometry>
+        <box size="4.25 0.15 0.7"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_wall_5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.35"/>
+      <geometry>
+        <box size="2.27328 0.15 0.7"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.35"/>
+      <geometry>
+        <box size="2.27328 0.15 0.7"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_wall_6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.35"/>
+      <geometry>
+        <box size="1 0.15 0.7"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.35"/>
+      <geometry>
+        <box size="1 0.15 0.7"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="kitchen_wall_7">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <mass value="1"/>
+      <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.375"/>
+      <geometry>
+        <box size="1.6 0.15 0.75"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.375"/>
+      <geometry>
+        <box size="1.6 0.15 0.75"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- JOINTS -->
+  <link name="kitchen_walls"/>
+  <joint name="walls_main_joint" type="fixed">
+    <origin rpy="0.0 0.0 0.0" xyz="-0.96 0.65 0"/>
+    <parent link="room_link"/>
+    <child link="kitchen_walls"/>
+  </joint>
+  <joint name="wall_1_joint" type="fixed">
+    <origin rpy="0 -0 3.14159" xyz="2.38151 -2.516 0"/>
+    <parent link="kitchen_walls"/>
+    <child link="kitchen_wall_1"/>
+  </joint>
+  <!--
+    <joint name="wall_1_joint" type="fixed">
+        <origin xyz="1 0.562175 0" rpy="0 0 0" />
+      <parent link="kitchen_walls"/>
+      <child link="kitchen_wall_1"/>
+    </joint>
+    -->
+  <joint name="wall_2_joint" type="fixed">
+    <origin rpy="0 -0 1.5708" xyz="2.87551 0 0"/>
+    <parent link="kitchen_walls"/>
+    <child link="kitchen_wall_2"/>
+  </joint>
+  <joint name="wall_3_joint" type="fixed">
+    <origin rpy="0 -0 3.14159" xyz="0 2.516 0"/>
+    <parent link="kitchen_walls"/>
+    <child link="kitchen_wall_3"/>
+  </joint>
+  <joint name="wall_4_joint" type="fixed">
+    <origin rpy="0 0 -1.5708" xyz="-2.87549 0.466 0"/>
+    <parent link="kitchen_walls"/>
+    <child link="kitchen_wall_4"/>
+  </joint>
+  <joint name="wall_5_joint" type="fixed">
+    <origin rpy="0 -0 0.000157" xyz="-1.81385 -1.70376 0"/>
+    <parent link="kitchen_walls"/>
+    <child link="kitchen_wall_5"/>
+  </joint>
+  <joint name="wall_6_joint" type="fixed">
+    <origin rpy="0 0 -1.5708" xyz="-0.65 -2.12851 0"/>
+    <parent link="kitchen_walls"/>
+    <child link="kitchen_wall_6"/>
+  </joint>
+  <joint name="wall_7_joint" type="fixed">
+    <origin rpy="0 -0 3.14159" xyz="1.01271 -2.556 0"/>
+    <parent link="kitchen_walls"/>
+    <child link="kitchen_wall_7"/>
+  </joint>
+  <gazebo reference="kitchen_wall_6">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <gazebo>
+    <static>false</static>
+  </gazebo>
+</robot>
+
diff --git a/resources/meshes/robotiq/collision/robotiq_85_base_link.stl b/resources/meshes/robotiq/collision/robotiq_85_base_link.stl
deleted file mode 100644
index 5f51dbc3e..000000000
Binary files a/resources/meshes/robotiq/collision/robotiq_85_base_link.stl and /dev/null differ
diff --git a/resources/meshes/robotiq/collision/robotiq_85_finger_link.stl b/resources/meshes/robotiq/collision/robotiq_85_finger_link.stl
deleted file mode 100644
index d1ff95301..000000000
Binary files a/resources/meshes/robotiq/collision/robotiq_85_finger_link.stl and /dev/null differ
diff --git a/resources/meshes/robotiq/collision/robotiq_85_finger_tip_link.stl b/resources/meshes/robotiq/collision/robotiq_85_finger_tip_link.stl
deleted file mode 100644
index 4d5ce52c2..000000000
Binary files a/resources/meshes/robotiq/collision/robotiq_85_finger_tip_link.stl and /dev/null differ
diff --git a/resources/meshes/robotiq/collision/robotiq_85_inner_knuckle_link.stl b/resources/meshes/robotiq/collision/robotiq_85_inner_knuckle_link.stl
deleted file mode 100644
index aef20afe2..000000000
Binary files a/resources/meshes/robotiq/collision/robotiq_85_inner_knuckle_link.stl and /dev/null differ
diff --git a/resources/meshes/robotiq/collision/robotiq_85_knuckle_link.stl b/resources/meshes/robotiq/collision/robotiq_85_knuckle_link.stl
deleted file mode 100644
index c593f301f..000000000
Binary files a/resources/meshes/robotiq/collision/robotiq_85_knuckle_link.stl and /dev/null differ
diff --git a/resources/meshes/robotiq/robotiq_85_coupler.stl b/resources/meshes/robotiq/robotiq_85_coupler.stl
deleted file mode 100644
index adfe496e8..000000000
Binary files a/resources/meshes/robotiq/robotiq_85_coupler.stl and /dev/null differ
diff --git a/resources/meshes/robotiq/visual/robotiq_85_base_link.dae b/resources/meshes/robotiq/visual/robotiq_85_base_link.dae
deleted file mode 100644
index b30b77cd3..000000000
--- a/resources/meshes/robotiq/visual/robotiq_85_base_link.dae
+++ /dev/null
@@ -1,277 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-  <asset>
-    <contributor>
-      <author>Blender User</author>
-      <authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
-    </contributor>
-    <created>2015-09-02T16:38:59</created>
-    <modified>2015-09-02T16:38:59</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-  </library_cameras>
-  <library_lights>
-    <light id="Lamp-light" name="Lamp">
-      <technique_common>
-        <point>
-          <color sid="color">1 1 1</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <adapt_thresh>0.000999987</adapt_thresh>
-          <area_shape>1</area_shape>
-          <area_size>0.1</area_size>
-          <area_sizey>0.1</area_sizey>
-          <area_sizez>1</area_sizez>
-          <atm_distance_factor>1</atm_distance_factor>
-          <atm_extinction_factor>1</atm_extinction_factor>
-          <atm_turbidity>2</atm_turbidity>
-          <att1>0</att1>
-          <att2>1</att2>
-          <backscattered_light>1</backscattered_light>
-          <bias>1</bias>
-          <blue>1</blue>
-          <buffers>1</buffers>
-          <bufflag>0</bufflag>
-          <bufsize>2880</bufsize>
-          <buftype>2</buftype>
-          <clipend>30.002</clipend>
-          <clipsta>1.000799</clipsta>
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-        </polylist>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_controllers/>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
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-        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
-        <instance_camera url="#Camera-camera"/>
-      </node>
-      <node id="Lamp" name="Lamp" type="NODE">
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-        <instance_light url="#Lamp-light"/>
-      </node>
-      <node id="robotiq_85_base_link" name="robotiq_85_base_link" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#robotiq_85_base_link-mesh">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
-              <instance_material symbol="Material_002-material" target="#Material_002-material"/>
-              <instance_material symbol="Material_003-material" target="#Material_003-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/resources/meshes/robotiq/visual/robotiq_85_finger_link.dae b/resources/meshes/robotiq/visual/robotiq_85_finger_link.dae
deleted file mode 100644
index 69dddc52e..000000000
--- a/resources/meshes/robotiq/visual/robotiq_85_finger_link.dae
+++ /dev/null
@@ -1,277 +0,0 @@
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-    <modified>2015-09-16T11:24:50</modified>
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-    <up_axis>Z_UP</up_axis>
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-        <technique_common>
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-      </optics>
-      <extra>
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-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
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-    </camera>
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-        <point>
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-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
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-          <area_shape>1</area_shape>
-          <area_size>0.1</area_size>
-          <area_sizey>0.1</area_sizey>
-          <area_sizez>1</area_sizez>
-          <atm_distance_factor>1</atm_distance_factor>
-          <atm_extinction_factor>1</atm_extinction_factor>
-          <atm_turbidity>2</atm_turbidity>
-          <att1>0</att1>
-          <att2>1</att2>
-          <backscattered_light>1</backscattered_light>
-          <bias>1</bias>
-          <blue>1</blue>
-          <buffers>1</buffers>
-          <bufflag>0</bufflag>
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-          <buftype>2</buftype>
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-          <dist sid="blender_dist">29.99998</dist>
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-          <filtertype>0</filtertype>
-          <flag>0</flag>
-          <gamma sid="blender_gamma">1</gamma>
-          <green>1</green>
-          <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
-          <horizon_brightness>1</horizon_brightness>
-          <mode>8192</mode>
-          <ray_samp>1</ray_samp>
-          <ray_samp_method>1</ray_samp_method>
-          <ray_samp_type>0</ray_samp_type>
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-          <ray_sampz>1</ray_sampz>
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-          <samp>3</samp>
-          <shadhalostep>0</shadhalostep>
-          <shadow_b sid="blender_shadow_b">0</shadow_b>
-          <shadow_g sid="blender_shadow_g">0</shadow_g>
-          <shadow_r sid="blender_shadow_r">0</shadow_r>
-          <sky_colorspace>0</sky_colorspace>
-          <sky_exposure>1</sky_exposure>
-          <skyblendfac>1</skyblendfac>
-          <skyblendtype>1</skyblendtype>
-          <soft>3</soft>
-          <spotblend>0.15</spotblend>
-          <spotsize>75</spotsize>
-          <spread>1</spread>
-          <sun_brightness>1</sun_brightness>
-          <sun_effect_type>0</sun_effect_type>
-          <sun_intensity>1</sun_intensity>
-          <sun_size>1</sun_size>
-          <type>0</type>
-        </technique>
-      </extra>
-    </light>
-  </library_lights>
-  <library_images/>
-  <library_effects>
-    <effect id="Material-effect">
-      <profile_COMMON>
-        <technique sid="common">
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-            </emission>
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-            <diffuse>
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-            </diffuse>
-            <specular>
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-            <shininess>
-              <float sid="shininess">50</float>
-            </shininess>
-            <index_of_refraction>
-              <float sid="index_of_refraction">1</float>
-            </index_of_refraction>
-          </phong>
-        </technique>
-      </profile_COMMON>
-    </effect>
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-      <profile_COMMON>
-        <technique sid="common">
-          <phong>
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-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <ambient>
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-            </ambient>
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-              <color sid="diffuse">0.44 0.44 0.44 1</color>
-            </diffuse>
-            <specular>
-              <color sid="specular">0.5 0.5 0.5 1</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">50</float>
-            </shininess>
-            <reflective>
-              <color>1 1 1 1</color>
-            </reflective>
-            <reflectivity>
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-  </library_geometries>
-  <library_controllers/>
-  <library_visual_scenes>
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-        <instance_light url="#Lamp-light"/>
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-        <instance_geometry url="#robotiq_85_finger_link_001-mesh">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="Material-material" target="#Material-material"/>
-              <instance_material symbol="Material_004-material" target="#Material_004-material"/>
-              <instance_material symbol="Material_005-material" target="#Material_005-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/resources/meshes/robotiq/visual/robotiq_85_finger_tip_link.dae b/resources/meshes/robotiq/visual/robotiq_85_finger_tip_link.dae
deleted file mode 100644
index 3fd6fda55..000000000
--- a/resources/meshes/robotiq/visual/robotiq_85_finger_tip_link.dae
+++ /dev/null
@@ -1,142 +0,0 @@
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-      <author>Blender User</author>
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-    </contributor>
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-    <modified>2015-09-16T11:19:37</modified>
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-    <up_axis>Z_UP</up_axis>
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-  <library_effects>
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-      <profile_COMMON>
-        <technique sid="common">
-          <phong>
-            <emission>
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-            <specular>
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-            </index_of_refraction>
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-        </technique>
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-    <effect id="Material_004-effect">
-      <profile_COMMON>
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-            </emission>
-            <ambient>
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-            </ambient>
-            <diffuse>
-              <color sid="diffuse">0.44 0.44 0.44 1</color>
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-            <specular>
-              <color sid="specular">0.5 0.5 0.5 1</color>
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-            <shininess>
-              <float sid="shininess">50</float>
-            </shininess>
-            <reflective>
-              <color>1 1 1 1</color>
-            </reflective>
-            <reflectivity>
-              <float>0.2</float>
-            </reflectivity>
-            <index_of_refraction>
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-        </technique>
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-  </library_effects>
-  <library_materials>
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-      <instance_effect url="#Material_004-effect"/>
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2050 956 2050 1006 2050 1006 2051 956 2051 957 2051 1006 2052 957 2052 1004 2052 1004 2053 957 2053 958 2053 1004 2054 958 2054 1002 2054 1002 2055 958 2055 959 2055 1002 2056 959 2056 1000 2056 1000 2057 959 2057 960 2057 1000 2058 960 2058 998 2058 998 2059 960 2059 961 2059 1034 2060 1035 2060 1036 2060 1037 2061 1038 2061 1039 2061 1035 2062 1040 2062 1036 2062 1036 2063 1040 2063 1041 2063 1036 2064 1041 2064 1042 2064 1043 2065 1044 2065 1036 2065 1036 2066 1044 2066 1045 2066 1036 2067 1045 2067 1046 2067 1038 2068 1047 2068 1039 2068 1039 2069 1047 2069 1048 2069 1039 2070 1048 2070 1036 2070 1043 2071 1036 2071 1049 2071 1049 2072 1036 2072 1050 2072 1049 2073 1050 2073 1051 2073 1046 2074 1052 2074 1036 2074 1036 2075 1052 2075 1053 2075 1036 2076 1053 2076 1034 2076 1042 2077 1054 2077 1036 2077 1036 2078 1054 2078 1055 2078 1036 2079 1055 2079 1039 2079 1039 2080 1056 2080 1057 2080 1051 2081 1058 2081 1049 2081 1049 2082 1058 2082 1059 2082 1049 2083 1059 2083 1060 2083 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1118 2150 1118 2151 1057 2151 1056 2151 1118 2152 1056 2152 1119 2152 1119 2153 1056 2153 1064 2153 1119 2154 1064 2154 1120 2154 1120 2155 1064 2155 1063 2155 1120 2156 1063 2156 1121 2156 1121 2157 1063 2157 1062 2157 1121 2158 1062 2158 1122 2158 1122 2159 1062 2159 1039 2159 1122 2160 1039 2160 1123 2160 1123 2161 1039 2161 1055 2161 1123 2162 1055 2162 1124 2162 1124 2163 1055 2163 1054 2163 1124 2164 1054 2164 1125 2164 1125 2165 1054 2165 1042 2165 1125 2166 1042 2166 1126 2166 1126 2167 1042 2167 1041 2167 1126 2168 1041 2168 1127 2168 1127 2169 1041 2169 1040 2169 1127 2170 1040 2170 1128 2170 1128 2171 1040 2171 1035 2171 1128 2172 1035 2172 1129 2172 1129 2173 1035 2173 1034 2173 1129 2174 1034 2174 1130 2174 1130 2175 1034 2175 1053 2175 1130 2176 1053 2176 1131 2176 1131 2177 1053 2177 1052 2177 1131 2178 1052 2178 1132 2178 1132 2179 1052 2179 1046 2179 1132 2180 1046 2180 1133 2180 1133 2181 1046 2181 1045 2181 1133 2182 1045 2182 1134 2182 1134 2183 1045 2183 1044 2183 1134 2184 1044 2184 1135 2184 1135 2185 1044 2185 1043 2185 1135 2186 1043 2186 1136 2186 1136 2187 1043 2187 1049 2187 1136 2188 1049 2188 1137 2188 1137 2189 1049 2189 1060 2189 1137 2190 1060 2190 1138 2190 1138 2191 1060 2191 1061 2191 1138 2192 1061 2192 1139 2192 1139 2193 1061 2193 1067 2193 1139 2194 1067 2194 1140 2194 1140 2195 1067 2195 1069 2195 1140 2196 1069 2196 1141 2196 1141 2197 1069 2197 1068 2197 1141 2198 1068 2198 1106 2198 1106 2199 1068 2199 1059 2199 1142 2200 1099 2200 1143 2200 1143 2201 1099 2201 1098 2201 1143 2202 1098 2202 1144 2202 1144 2203 1098 2203 1097 2203 1144 2204 1097 2204 1145 2204 1145 2205 1097 2205 1074 2205 1145 2206 1074 2206 1146 2206 1146 2207 1074 2207 1073 2207 1146 2208 1073 2208 1147 2208 1147 2209 1073 2209 1079 2209 1147 2210 1079 2210 1148 2210 1148 2211 1079 2211 1078 2211 1148 2212 1078 2212 1149 2212 1149 2213 1078 2213 1080 2213 1149 2214 1080 2214 1150 2214 1150 2215 1080 2215 1071 2215 1150 2216 1071 2216 1151 2216 1151 2217 1071 2217 1070 2217 1151 2218 1070 2218 1152 2218 1152 2219 1070 2219 1087 2219 1152 2220 1087 2220 1153 2220 1153 2221 1087 2221 1086 2221 1153 2222 1086 2222 1154 2222 1154 2223 1086 2223 1085 2223 1154 2224 1085 2224 1155 2224 1155 2225 1085 2225 1084 2225 1155 2226 1084 2226 1156 2226 1156 2227 1084 2227 1083 2227 1156 2228 1083 2228 1157 2228 1157 2229 1083 2229 1105 2229 1157 2230 1105 2230 1158 2230 1158 2231 1105 2231 1104 2231 1158 2232 1104 2232 1159 2232 1159 2233 1104 2233 1103 2233 1159 2234 1103 2234 1160 2234 1160 2235 1103 2235 1102 2235 1160 2236 1102 2236 1161 2236 1161 2237 1102 2237 1101 2237 1161 2238 1101 2238 1162 2238 1162 2239 1101 2239 1100 2239 1162 2240 1100 2240 1163 2240 1163 2241 1100 2241 1096 2241 1163 2242 1096 2242 1164 2242 1164 2243 1096 2243 1095 2243 1164 2244 1095 2244 1165 2244 1165 2245 1095 2245 1094 2245 1165 2246 1094 2246 1166 2246 1166 2247 1094 2247 1082 2247 1166 2248 1082 2248 1167 2248 1167 2249 1082 2249 1072 2249 1167 2250 1072 2250 1168 2250 1168 2251 1072 2251 1081 2251 1168 2252 1081 2252 1169 2252 1169 2253 1081 2253 1077 2253 1169 2254 1077 2254 1170 2254 1170 2255 1077 2255 1076 2255 1170 2256 1076 2256 1171 2256 1171 2257 1076 2257 1088 2257 1171 2258 1088 2258 1172 2258 1172 2259 1088 2259 1075 2259 1172 2260 1075 2260 1173 2260 1173 2261 1075 2261 1093 2261 1173 2262 1093 2262 1174 2262 1174 2263 1093 2263 1092 2263 1174 2264 1092 2264 1175 2264 1175 2265 1092 2265 1089 2265 1175 2266 1089 2266 1176 2266 1176 2267 1089 2267 1090 2267 1176 2268 1090 2268 1177 2268 1177 2269 1090 2269 1091 2269 1177 2270 1091 2270 1142 2270 1142 2271 1091 2271 1099 2271 1160 2272 1141 2272 1159 2272 1159 2273 1141 2273 1106 2273 1159 2274 1106 2274 1158 2274 1158 2275 1106 2275 1107 2275 1158 2276 1107 2276 1157 2276 1157 2277 1107 2277 1108 2277 1157 2278 1108 2278 1156 2278 1156 2279 1108 2279 1109 2279 1156 2280 1109 2280 1155 2280 1155 2281 1109 2281 1110 2281 1155 2282 1110 2282 1154 2282 1154 2283 1110 2283 1111 2283 1154 2284 1111 2284 1153 2284 1153 2285 1111 2285 1112 2285 1153 2286 1112 2286 1152 2286 1152 2287 1112 2287 1113 2287 1152 2288 1113 2288 1151 2288 1151 2289 1113 2289 1114 2289 1151 2290 1114 2290 1150 2290 1150 2291 1114 2291 1115 2291 1150 2292 1115 2292 1149 2292 1149 2293 1115 2293 1116 2293 1149 2294 1116 2294 1148 2294 1148 2295 1116 2295 1117 2295 1148 2296 1117 2296 1147 2296 1147 2297 1117 2297 1118 2297 1147 2298 1118 2298 1146 2298 1146 2299 1118 2299 1119 2299 1146 2300 1119 2300 1145 2300 1145 2301 1119 2301 1120 2301 1145 2302 1120 2302 1144 2302 1144 2303 1120 2303 1121 2303 1144 2304 1121 2304 1143 2304 1143 2305 1121 2305 1122 2305 1143 2306 1122 2306 1142 2306 1142 2307 1122 2307 1123 2307 1142 2308 1123 2308 1177 2308 1177 2309 1123 2309 1124 2309 1177 2310 1124 2310 1176 2310 1176 2311 1124 2311 1125 2311 1176 2312 1125 2312 1175 2312 1175 2313 1125 2313 1126 2313 1175 2314 1126 2314 1174 2314 1174 2315 1126 2315 1127 2315 1174 2316 1127 2316 1173 2316 1173 2317 1127 2317 1128 2317 1173 2318 1128 2318 1172 2318 1172 2319 1128 2319 1129 2319 1172 2320 1129 2320 1171 2320 1171 2321 1129 2321 1130 2321 1171 2322 1130 2322 1170 2322 1170 2323 1130 2323 1131 2323 1170 2324 1131 2324 1169 2324 1169 2325 1131 2325 1132 2325 1169 2326 1132 2326 1168 2326 1168 2327 1132 2327 1133 2327 1168 2328 1133 2328 1167 2328 1167 2329 1133 2329 1134 2329 1167 2330 1134 2330 1166 2330 1166 2331 1134 2331 1135 2331 1166 2332 1135 2332 1165 2332 1165 2333 1135 2333 1136 2333 1165 2334 1136 2334 1164 2334 1164 2335 1136 2335 1137 2335 1164 2336 1137 2336 1163 2336 1163 2337 1137 2337 1138 2337 1163 2338 1138 2338 1162 2338 1162 2339 1138 2339 1139 2339 1162 2340 1139 2340 1161 2340 1161 2341 1139 2341 1140 2341 1161 2342 1140 2342 1160 2342 1160 2343 1140 2343 1141 2343</p>
-        </polylist>
-        <polylist material="Material_004-material" count="228">
-          <input semantic="VERTEX" source="#robotiq_85_finger_tip_001-mesh-vertices" offset="0"/>
-          <input semantic="NORMAL" source="#robotiq_85_finger_tip_001-mesh-normals" offset="1"/>
-          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
-          <p>0 0 1 0 2 0 2 1 3 1 4 1 5 2 6 2 2 2 2 3 6 3 7 3 2 4 7 4 8 4 8 5 9 5 2 5 2 6 9 6 10 6 2 7 10 7 11 7 2 8 12 8 13 8 1 9 14 9 2 9 2 10 14 10 15 10 2 11 15 11 3 11 16 12 17 12 18 12 13 13 19 13 2 13 2 14 19 14 20 14 2 15 20 15 0 15 4 16 21 16 2 16 2 17 21 17 22 17 2 18 22 18 23 18 23 19 24 19 2 19 2 20 24 20 25 20 2 21 25 21 26 21 26 22 27 22 2 22 2 23 27 23 28 23 2 24 28 24 5 24 11 25 29 25 2 25 2 26 29 26 30 26 2 27 30 27 31 27 31 28 32 28 2 28 2 29 32 29 33 29 2 30 33 30 34 30 34 31 33 31 18 31 18 32 33 32 35 32 18 33 35 33 16 33 36 34 37 34 38 34 38 35 37 35 39 35 36 36 38 36 40 36 40 37 38 37 41 37 40 38 41 38 42 38 39 39 43 39 38 39 38 40 43 40 44 40 38 41 44 41 45 41 46 42 47 42 40 42 42 43 48 43 40 43 40 44 48 44 49 44 40 45 49 45 50 45 45 46 51 46 38 46 38 47 51 47 52 47 38 48 52 48 53 48 53 49 52 49 54 49 53 50 54 50 55 50 56 51 57 51 58 51 58 52 57 52 59 52 47 53 60 53 40 53 40 54 60 54 59 54 40 55 59 55 61 55 61 56 59 56 57 56 50 57 62 57 40 57 40 58 62 58 63 58 40 59 63 59 46 59 64 60 65 60 66 60 64 61 67 61 65 61 65 62 67 62 68 62 65 63 68 63 69 63 55 64 70 64 53 64 53 65 70 65 64 65 53 66 64 66 71 66 71 67 64 67 66 67 72 68 73 68 74 68 75 69 76 69 77 69 78 70 79 70 80 70 80 71 79 71 77 71 80 72 77 72 81 72 72 73 74 73 82 73 76 74 83 74 77 74 77 75 83 75 84 75 77 76 84 76 81 76 73 77 85 77 74 77 74 78 85 78 86 78 74 79 86 79 87 79 87 80 88 80 74 80 74 81 88 81 89 81 74 82 89 82 90 82 82 83 74 83 77 83 77 84 74 84 91 84 77 85 91 85 75 85 80 86 92 86 78 86 78 87 92 87 93 87 78 88 93 88 94 88 95 89 96 89 97 89 94 90 98 90 78 90 78 91 98 91 95 91 78 92 95 92 99 92 99 93 95 93 97 93 90 94 100 94 74 94 74 95 100 95 101 95 74 96 101 96 102 96 102 97 103 97 74 97 74 98 103 98 104 98 74 99 104 99 105 99 105 100 104 100 106 100 105 101 106 101 107 101 108 102 109 102 110 102 110 103 109 103 111 103 109 104 112 104 111 104 111 105 112 105 113 105 111 106 113 106 114 106 115 107 116 107 111 107 117 108 118 108 108 108 108 109 118 109 119 109 108 110 119 110 109 110 120 111 121 111 122 111 117 112 123 112 118 112 118 113 123 113 124 113 118 114 124 114 125 114 126 115 127 115 128 115 125 116 129 116 118 116 118 117 129 117 122 117 118 118 122 118 130 118 130 119 122 119 121 119 114 120 131 120 111 120 111 121 131 121 132 121 111 122 132 122 133 122 133 123 134 123 111 123 111 124 134 124 135 124 111 125 135 125 115 125 116 126 136 126 111 126 111 127 136 127 137 127 111 128 137 128 138 128 138 129 139 129 111 129 111 130 139 130 140 130 111 131 140 131 141 131 141 132 140 132 142 132 126 133 128 133 122 133 122 134 128 134 143 134 122 135 143 135 120 135 1178 2344 1179 2344 1180 2344 1180 2345 1179 2345 1181 2345 1178 2346 1180 2346 1182 2346 1178 2347 1182 2347 1183 2347 1183 2348 1182 2348 1184 2348 1183 2349 1184 2349 1185 2349 1185 2350 1184 2350 1186 2350 1185 2351 1186 2351 1187 2351 1187 2352 1186 2352 1188 2352 1187 2353 1188 2353 1189 2353 1189 2354 1188 2354 1190 2354 1189 2355 1190 2355 1191 2355 1191 2356 1190 2356 1192 2356 1191 2357 1192 2357 1193 2357 1193 2358 1192 2358 1194 2358 1193 2359 1194 2359 1195 2359 1195 2360 1194 2360 1196 2360 1195 2361 1196 2361 1197 2361 1197 2362 1196 2362 1198 2362 1197 2363 1198 2363 1199 2363 1199 2364 1198 2364 1200 2364 1199 2365 1200 2365 1201 2365 1202 2366 1201 2366 1203 2366 1203 2367 1201 2367 1200 2367 1202 2368 1203 2368 1204 2368 1202 2369 1204 2369 1205 2369 1205 2370 1204 2370 1206 2370 1205 2371 1206 2371 1207 2371 1207 2372 1206 2372 1208 2372 1207 2373 1208 2373 1209 2373 1209 2374 1208 2374 1210 2374 1209 2375 1210 2375 1211 2375 1211 2376 1210 2376 1212 2376 1211 2377 1212 2377 1213 2377 1213 2378 1212 2378 1214 2378 1213 2379 1214 2379 1215 2379 1215 2380 1214 2380 1216 2380 1215 2381 1216 2381 1217 2381 1217 2382 1216 2382 1218 2382 1217 2383 1218 2383 1219 2383 1219 2384 1218 2384 1220 2384 1219 2385 1220 2385 1221 2385 1221 2386 1220 2386 1222 2386 1221 2387 1222 2387 1223 2387 1224 2388 1223 2388 1225 2388 1225 2389 1223 2389 1222 2389 1179 2390 1224 2390 1181 2390 1181 2391 1224 2391 1225 2391 1224 2392 1179 2392 1223 2392 1223 2393 1179 2393 1178 2393 1202 2394 1223 2394 1201 2394 1201 2395 1223 2395 1178 2395 1201 2396 1178 2396 1183 2396 1183 2397 1185 2397 1201 2397 1201 2398 1185 2398 1187 2398 1201 2399 1187 2399 1189 2399 1189 2400 1191 2400 1201 2400 1201 2401 1191 2401 1193 2401 1201 2402 1193 2402 1199 2402 1199 2403 1193 2403 1195 2403 1199 2404 1195 2404 1197 2404 1219 2405 1207 2405 1217 2405 1217 2406 1207 2406 1209 2406 1209 2407 1211 2407 1217 2407 1217 2408 1211 2408 1213 2408 1217 2409 1213 2409 1215 2409 1202 2410 1205 2410 1223 2410 1223 2411 1205 2411 1207 2411 1223 2412 1207 2412 1221 2412 1221 2413 1207 2413 1219 2413 1203 2414 1225 2414 1222 2414 1225 2415 1203 2415 1181 2415 1181 2416 1203 2416 1200 2416 1181 2417 1200 2417 1180 2417 1220 2418 1206 2418 1222 2418 1222 2419 1206 2419 1204 2419 1222 2420 1204 2420 1203 2420 1210 2421 1216 2421 1212 2421 1212 2422 1216 2422 1214 2422 1220 2423 1218 2423 1206 2423 1206 2424 1218 2424 1216 2424 1206 2425 1216 2425 1208 2425 1208 2426 1216 2426 1210 2426 1186 2427 1192 2427 1188 2427 1188 2428 1192 2428 1190 2428 1196 2429 1194 2429 1182 2429 1182 2430 1194 2430 1192 2430 1182 2431 1192 2431 1184 2431 1184 2432 1192 2432 1186 2432 1180 2433 1200 2433 1182 2433 1182 2434 1200 2434 1198 2434 1182 2435 1198 2435 1196 2435</p>
-        </polylist>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_controllers/>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="robotiq_85_finger_tip" name="robotiq_85_finger_tip" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#robotiq_85_finger_tip_001-mesh">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="Material_003-material" target="#Material_003-material"/>
-              <instance_material symbol="Material_004-material" target="#Material_004-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/resources/meshes/robotiq/visual/robotiq_85_inner_knuckle_link.dae b/resources/meshes/robotiq/visual/robotiq_85_inner_knuckle_link.dae
deleted file mode 100644
index 779f2446b..000000000
--- a/resources/meshes/robotiq/visual/robotiq_85_inner_knuckle_link.dae
+++ /dev/null
@@ -1,241 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-  <asset>
-    <contributor>
-      <author>Blender User</author>
-      <authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
-    </contributor>
-    <created>2015-09-16T11:03:09</created>
-    <modified>2015-09-16T11:03:09</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <YF_dofdist>0</YF_dofdist>
-          <shiftx>0</shiftx>
-          <shifty>0</shifty>
-        </technique>
-      </extra>
-    </camera>
-  </library_cameras>
-  <library_lights>
-    <light id="Lamp-light" name="Lamp">
-      <technique_common>
-        <point>
-          <color sid="color">1 1 1</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <adapt_thresh>0.000999987</adapt_thresh>
-          <area_shape>1</area_shape>
-          <area_size>0.1</area_size>
-          <area_sizey>0.1</area_sizey>
-          <area_sizez>1</area_sizez>
-          <atm_distance_factor>1</atm_distance_factor>
-          <atm_extinction_factor>1</atm_extinction_factor>
-          <atm_turbidity>2</atm_turbidity>
-          <att1>0</att1>
-          <att2>1</att2>
-          <backscattered_light>1</backscattered_light>
-          <bias>1</bias>
-          <blue>1</blue>
-          <buffers>1</buffers>
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2073 968 2073 961 2074 960 2074 911 2074 911 2075 960 2075 959 2075 911 2076 959 2076 912 2076 912 2077 959 2077 941 2077 912 2078 941 2078 913 2078 913 2079 941 2079 914 2079 923 2080 922 2080 941 2080 941 2081 922 2081 921 2081 941 2082 921 2082 920 2082 920 2083 919 2083 941 2083 941 2084 919 2084 918 2084 941 2085 918 2085 917 2085 853 2086 852 2086 968 2086 968 2087 852 2087 851 2087 968 2088 851 2088 969 2088 851 2089 850 2089 969 2089 969 2090 850 2090 849 2090 969 2091 849 2091 973 2091 973 2092 849 2092 848 2092 973 2093 848 2093 974 2093 974 2094 848 2094 847 2094 974 2095 847 2095 846 2095</p>
-        </polylist>
-        <polylist material="Material_003-material" count="428">
-          <input semantic="VERTEX" source="#robotiq_85_inner_knuckle_link_001-mesh-vertices" offset="0"/>
-          <input semantic="NORMAL" source="#robotiq_85_inner_knuckle_link_001-mesh-normals" offset="1"/>
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204 332 142 332 205 332 205 333 142 333 141 333 205 334 141 334 206 334 206 335 141 335 140 335 206 336 140 336 207 336 207 337 140 337 139 337 207 338 139 338 208 338 208 339 139 339 138 339 208 340 138 340 209 340 209 341 138 341 137 341 209 342 137 342 210 342 210 343 137 343 136 343 210 344 136 344 211 344 211 345 136 345 135 345 211 346 135 346 212 346 212 347 135 347 134 347 212 348 134 348 213 348 213 349 134 349 133 349 213 350 133 350 214 350 214 351 133 351 132 351 214 352 132 352 215 352 215 353 132 353 131 353 215 354 131 354 180 354 180 355 131 355 130 355 288 500 289 500 290 500 290 501 289 501 291 501 290 502 291 502 292 502 292 503 291 503 293 503 292 504 293 504 294 504 294 505 293 505 295 505 294 506 295 506 296 506 296 507 295 507 297 507 296 508 297 508 298 508 298 509 297 509 299 509 298 510 299 510 300 510 300 511 299 511 301 511 300 512 301 512 302 512 302 513 301 513 303 513 302 514 303 514 304 514 304 515 303 515 305 515 304 516 305 516 306 516 306 517 305 517 307 517 306 518 307 518 308 518 308 519 307 519 309 519 308 520 309 520 310 520 310 521 309 521 311 521 310 522 311 522 312 522 312 523 311 523 313 523 312 524 313 524 314 524 314 525 313 525 315 525 314 526 315 526 316 526 316 527 315 527 317 527 316 528 317 528 318 528 318 529 317 529 319 529 318 530 319 530 320 530 320 531 319 531 321 531 320 532 321 532 322 532 322 533 321 533 323 533 322 534 323 534 324 534 324 535 323 535 325 535 324 536 325 536 326 536 326 537 325 537 327 537 326 538 327 538 328 538 328 539 327 539 329 539 328 540 329 540 330 540 330 541 329 541 331 541 330 542 331 542 332 542 332 543 331 543 333 543 332 544 333 544 334 544 334 545 333 545 335 545 334 546 335 546 336 546 336 547 335 547 337 547 336 548 337 548 338 548 338 549 337 549 339 549 338 550 339 550 340 550 340 551 339 551 341 551 340 552 341 552 342 552 342 553 341 553 343 553 342 554 343 554 344 554 344 555 343 555 345 555 344 556 345 556 346 556 346 557 345 557 347 557 346 558 347 558 348 558 348 559 347 559 349 559 348 560 349 560 350 560 350 561 349 561 351 561 350 562 351 562 352 562 352 563 351 563 353 563 352 564 353 564 354 564 354 565 353 565 355 565 354 566 355 566 356 566 356 567 355 567 357 567 356 568 357 568 358 568 358 569 357 569 359 569 358 570 359 570 288 570 288 571 359 571 289 571</p>
-        </polylist>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_controllers/>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="Camera" name="Camera" type="NODE">
-        <matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
-        <instance_camera url="#Camera-camera"/>
-      </node>
-      <node id="Lamp" name="Lamp" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Lamp-light"/>
-      </node>
-      <node id="robotiq_85_inner_knuckle_link" name="robotiq_85_inner_knuckle_link" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#robotiq_85_inner_knuckle_link_001-mesh">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="Material-material" target="#Material-material"/>
-              <instance_material symbol="Material_003-material" target="#Material_003-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/resources/meshes/robotiq/visual/robotiq_85_knuckle_link.dae b/resources/meshes/robotiq/visual/robotiq_85_knuckle_link.dae
deleted file mode 100644
index 151cd4740..000000000
--- a/resources/meshes/robotiq/visual/robotiq_85_knuckle_link.dae
+++ /dev/null
@@ -1,241 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-  <asset>
-    <contributor>
-      <author>Blender User</author>
-      <authoring_tool>Blender 2.74.0 commit date:2015-03-31, commit time:13:39, hash:000dfc0</authoring_tool>
-    </contributor>
-    <created>2015-09-02T16:33:57</created>
-    <modified>2015-09-02T16:33:57</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_cameras>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">49.13434</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
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-</COLLADA>
\ No newline at end of file
diff --git a/resources/meshes/ur5/collision/base.stl b/resources/meshes/ur5/collision/base.stl
deleted file mode 100644
index 4eb2f7eb3..000000000
Binary files a/resources/meshes/ur5/collision/base.stl and /dev/null differ
diff --git a/resources/meshes/ur5/collision/forearm.stl b/resources/meshes/ur5/collision/forearm.stl
deleted file mode 100644
index ffbed4536..000000000
Binary files a/resources/meshes/ur5/collision/forearm.stl and /dev/null differ
diff --git a/resources/meshes/ur5/collision/shoulder.stl b/resources/meshes/ur5/collision/shoulder.stl
deleted file mode 100644
index 5088831c1..000000000
Binary files a/resources/meshes/ur5/collision/shoulder.stl and /dev/null differ
diff --git a/resources/meshes/ur5/collision/upperarm.stl b/resources/meshes/ur5/collision/upperarm.stl
deleted file mode 100644
index 734386e87..000000000
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diff --git a/resources/meshes/ur5/collision/wrist1.stl b/resources/meshes/ur5/collision/wrist1.stl
deleted file mode 100644
index a960c0c57..000000000
Binary files a/resources/meshes/ur5/collision/wrist1.stl and /dev/null differ
diff --git a/resources/meshes/ur5/collision/wrist2.stl b/resources/meshes/ur5/collision/wrist2.stl
deleted file mode 100644
index 9b089de4c..000000000
Binary files a/resources/meshes/ur5/collision/wrist2.stl and /dev/null differ
diff --git a/resources/meshes/ur5/collision/wrist3.stl b/resources/meshes/ur5/collision/wrist3.stl
deleted file mode 100644
index 96c71f041..000000000
Binary files a/resources/meshes/ur5/collision/wrist3.stl and /dev/null differ
diff --git a/resources/meshes/ur5/visual/base.dae b/resources/meshes/ur5/visual/base.dae
deleted file mode 100644
index 623f61104..000000000
--- a/resources/meshes/ur5/visual/base.dae
+++ /dev/null
@@ -1,136 +0,0 @@
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954 1657 956 1657 956 1658 954 1658 959 1658 956 1659 959 1659 958 1659 958 1660 959 1660 951 1660 958 1661 951 1661 948 1661 948 1662 951 1662 949 1662 948 1663 949 1663 840 1663 840 1664 949 1664 839 1664 935 1665 936 1665 954 1665 954 1666 936 1666 953 1666 954 1667 953 1667 959 1667 959 1668 953 1668 952 1668 959 1669 952 1669 951 1669 951 1670 952 1670 950 1670 951 1671 950 1671 750 1671 750 1672 950 1672 727 1672</p>
-        </polylist>
-        <polylist material="Scheibe-material" count="137">
-          <input semantic="VERTEX" source="#ActorShape0_0-Mesh_021-mesh-vertices" offset="0"/>
-          <input semantic="NORMAL" source="#ActorShape0_0-Mesh_021-mesh-normals" offset="1"/>
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-        </polylist>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_controllers/>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="Actor0" name="Actor0" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#ActorShape0_0-Mesh_021-mesh">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="Rohr-material" target="#Rohr-material"/>
-              <instance_material symbol="Scheibe-material" target="#Scheibe-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/resources/meshes/ur5/visual/forearm.dae b/resources/meshes/ur5/visual/forearm.dae
deleted file mode 100644
index bda63c6fb..000000000
--- a/resources/meshes/ur5/visual/forearm.dae
+++ /dev/null
@@ -1,287 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-  <asset>
-    <contributor>
-      <author>Blender User</author>
-      <authoring_tool>Blender 2.70.0 commit date:2014-04-10, commit time:11:49, hash:f93bc76</authoring_tool>
-    </contributor>
-    <created>2014-08-08T14:28:30</created>
-    <modified>2014-08-08T14:28:30</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_images/>
-  <library_effects>
-    <effect id="blau_005-effect">
-      <profile_COMMON>
-        <technique sid="common">
-          <phong>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <ambient>
-              <color sid="ambient">0 0 0 1</color>
-            </ambient>
-            <diffuse>
-              <color sid="diffuse">0.25088 0.34752 0.4096 1</color>
-            </diffuse>
-            <specular>
-              <color sid="specular">0.125 0.125 0.125 1</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">1</float>
-            </shininess>
-            <index_of_refraction>
-              <float sid="index_of_refraction">1</float>
-            </index_of_refraction>
-          </phong>
-        </technique>
-      </profile_COMMON>
-    </effect>
-    <effect id="Rohr_005-effect">
-      <profile_COMMON>
-        <technique sid="common">
-          <phong>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <ambient>
-              <color sid="ambient">0 0 0 1</color>
-            </ambient>
-            <diffuse>
-              <color sid="diffuse">0.41984 0.41984 0.41984 1</color>
-            </diffuse>
-            <specular>
-              <color sid="specular">0.125 0.125 0.125 1</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">1</float>
-            </shininess>
-            <index_of_refraction>
-              <float sid="index_of_refraction">1</float>
-            </index_of_refraction>
-          </phong>
-        </technique>
-      </profile_COMMON>
-    </effect>
-    <effect id="verbindung_005-effect">
-      <profile_COMMON>
-        <technique sid="common">
-          <phong>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <ambient>
-              <color sid="ambient">0 0 0 1</color>
-            </ambient>
-            <diffuse>
-              <color sid="diffuse">0.14272 0.14272 0.14272 1</color>
-            </diffuse>
-            <specular>
-              <color sid="specular">0.125 0.125 0.125 1</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">1</float>
-            </shininess>
-            <index_of_refraction>
-              <float sid="index_of_refraction">1</float>
-            </index_of_refraction>
-          </phong>
-        </technique>
-      </profile_COMMON>
-    </effect>
-  </library_effects>
-  <library_materials>
-    <material id="blau_005-material" name="blau_005">
-      <instance_effect url="#blau_005-effect"/>
-    </material>
-    <material id="Rohr_005-material" name="Rohr_005">
-      <instance_effect url="#Rohr_005-effect"/>
-    </material>
-    <material id="verbindung_005-material" name="verbindung_005">
-      <instance_effect url="#verbindung_005-effect"/>
-    </material>
-  </library_materials>
-  <library_geometries>
-    <geometry id="ActorShape0_0-Mesh_029-mesh" name="ActorShape0_0-Mesh.029">
-      <mesh>
-        <source id="ActorShape0_0-Mesh_029-mesh-positions">
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\ No newline at end of file
diff --git a/resources/meshes/ur5/visual/shoulder.dae b/resources/meshes/ur5/visual/shoulder.dae
deleted file mode 100644
index 31b82641d..000000000
--- a/resources/meshes/ur5/visual/shoulder.dae
+++ /dev/null
@@ -1,208 +0,0 @@
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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
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-  <scene>
-    <instance_visual_scene url="#Scene"/>
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\ No newline at end of file
diff --git a/resources/meshes/ur5/visual/upperarm.dae b/resources/meshes/ur5/visual/upperarm.dae
deleted file mode 100644
index 3260b82f4..000000000
--- a/resources/meshes/ur5/visual/upperarm.dae
+++ /dev/null
@@ -1,373 +0,0 @@
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-    <modified>2014-08-08T15:12:49</modified>
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-    <up_axis>Z_UP</up_axis>
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-            <ambient>
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-  </library_effects>
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diff --git a/resources/meshes/ur5/visual/wrist1.dae b/resources/meshes/ur5/visual/wrist1.dae
deleted file mode 100644
index 9c0bb4fda..000000000
--- a/resources/meshes/ur5/visual/wrist1.dae
+++ /dev/null
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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
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diff --git a/resources/meshes/ur5/visual/wrist2.dae b/resources/meshes/ur5/visual/wrist2.dae
deleted file mode 100644
index 62bef631f..000000000
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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
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-        </polylist>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_controllers/>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="Actor0" name="Actor0" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#ActorShape0_0-Mesh_026-mesh">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="Scheibe_002-material" target="#Scheibe_002-material"/>
-              <instance_material symbol="verbindung_002-material" target="#verbindung_002-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-      <node id="Actor1" name="Actor1" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#ActorShape1_0-Mesh_020-mesh">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="blau_002-material" target="#blau_002-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/resources/meshes/ur5/visual/wrist3.dae b/resources/meshes/ur5/visual/wrist3.dae
deleted file mode 100644
index fddae6037..000000000
--- a/resources/meshes/ur5/visual/wrist3.dae
+++ /dev/null
@@ -1,136 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-  <asset>
-    <contributor>
-      <author>Blender User</author>
-      <authoring_tool>Blender 2.70.0 commit date:2014-04-10, commit time:11:49, hash:f93bc76</authoring_tool>
-    </contributor>
-    <created>2014-08-08T15:53:13</created>
-    <modified>2014-08-08T15:53:13</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_images/>
-  <library_effects>
-    <effect id="Rohr_007_001-effect">
-      <profile_COMMON>
-        <technique sid="common">
-          <phong>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
-            </emission>
-            <ambient>
-              <color sid="ambient">0 0 0 1</color>
-            </ambient>
-            <diffuse>
-              <color sid="diffuse">0.2149581 0.2149581 0.2149581 1</color>
-            </diffuse>
-            <specular>
-              <color sid="specular">0.015625 0.015625 0.015625 1</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">1</float>
-            </shininess>
-            <index_of_refraction>
-              <float sid="index_of_refraction">1</float>
-            </index_of_refraction>
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113 83 247 1226 248 1227 113 83 248 1227 114 84 114 84 248 1227 249 1228 114 84 249 1228 118 88 118 88 249 1228 250 1229 118 88 250 1229 116 86 116 86 250 1229 251 1230 116 86 251 1230 117 87 117 87 251 1230 252 1231 117 87 252 1231 121 91 121 91 252 1231 253 1232 121 91 253 1232 119 89 119 89 253 1232 254 1233 119 89 254 1233 120 90 120 90 254 1233 255 1234 120 90 255 1234 124 94 124 94 255 1234 256 1235 124 94 256 1235 122 92 122 92 256 1235 257 1236 122 92 257 1236 123 93 123 93 257 1236 234 1213 142 112 258 1237 146 116 146 116 258 1237 259 1238 146 116 259 1238 144 114 144 114 259 1238 260 1239 144 114 260 1239 145 115 145 115 260 1239 261 1240 145 115 261 1240 149 119 149 119 261 1240 262 1241 149 119 262 1241 147 117 147 117 262 1241 263 1242 147 117 263 1242 148 118 148 118 263 1242 264 1243 148 118 264 1243 128 98 128 98 264 1243 265 1244 128 98 265 1244 126 96 126 96 265 1244 266 1245 126 96 266 1245 127 97 127 97 266 1245 267 1246 127 97 267 1246 131 101 131 101 267 1246 268 1247 131 101 268 1247 129 99 129 99 268 1247 269 1248 129 99 269 1248 130 100 130 100 269 1248 270 1249 130 100 270 1249 134 104 134 104 270 1249 271 1250 134 104 271 1250 132 102 132 102 271 1250 272 1251 132 102 272 1251 133 103 133 103 272 1251 273 1252 133 103 273 1252 137 107 137 107 273 1252 274 1253 137 107 274 1253 135 105 135 105 274 1253 275 1254 135 105 275 1254 136 106 136 106 275 1254 276 1255 136 106 276 1255 140 110 140 110 276 1255 277 1256 140 110 277 1256 138 108 138 108 277 1256 278 1257 138 108 278 1257 139 109 139 109 278 1257 279 1258 139 109 279 1258 143 113 143 113 279 1258 280 1259 143 113 280 1259 141 111 141 111 280 1259 281 1260 141 111 281 1260 142 112 142 112 281 1260 258 1237 167 137 282 1261 171 141 171 141 282 1261 283 1262 171 141 283 1262 169 139 169 139 283 1262 284 1263 169 139 284 1263 170 140 170 140 284 1263 285 1264 170 140 285 1264 174 144 174 144 285 1264 286 1265 174 144 286 1265 172 142 172 142 286 1265 287 1266 172 142 287 1266 173 143 173 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1305 327 1306 195 165 327 1306 199 169 199 169 327 1306 328 1307 199 169 328 1307 197 167 197 167 328 1307 329 1308 197 167 329 1308 198 168 198 168 329 1308 306 1285 715 995 722 1309 695 975 695 975 722 1309 732 1310 695 975 732 1310 693 973 693 973 732 1310 736 1311 693 973 736 1311 694 974 694 974 736 1311 729 1312 694 974 729 1312 698 978 698 978 729 1312 728 1313 698 978 728 1313 696 976 696 976 728 1313 719 1314 696 976 719 1314 697 977 697 977 719 1314 721 1315 697 977 721 1315 701 981 701 981 721 1315 725 1316 701 981 725 1316 699 979 699 979 725 1316 739 1317 699 979 739 1317 700 980 700 980 739 1317 740 1318 700 980 740 1318 704 984 704 984 740 1318 738 1319 704 984 738 1319 702 982 702 982 738 1319 737 1320 702 982 737 1320 703 983 703 983 737 1320 735 1321 703 983 735 1321 707 987 707 987 735 1321 734 1322 707 987 734 1322 705 985 705 985 734 1322 733 1323 705 985 733 1323 706 986 706 986 733 1323 727 1324 706 986 727 1324 710 990 710 990 727 1324 726 1325 710 990 726 1325 708 988 708 988 726 1325 720 1326 708 988 720 1326 709 989 709 989 720 1326 718 1327 709 989 718 1327 713 993 713 993 718 1327 717 1328 713 993 717 1328 711 991 711 991 717 1328 730 1329 711 991 730 1329 712 992 712 992 730 1329 731 1330 712 992 731 1330 716 996 716 996 731 1330 724 1331 716 996 724 1331 714 994 714 994 724 1331 723 1332 714 994 723 1332 715 995 715 995 723 1332 722 1309 764 1042 777 1333 744 1022 744 1022 777 1333 776 1334 744 1022 776 1334 742 1020 742 1020 776 1334 775 1335 742 1020 775 1335 743 1021 743 1021 775 1335 768 1336 743 1021 768 1336 747 1025 747 1025 768 1336 774 1337 747 1025 774 1337 745 1023 745 1023 774 1337 773 1338 745 1023 773 1338 746 1024 746 1024 773 1338 789 1339 746 1024 789 1339 750 1028 750 1028 789 1339 788 1340 750 1028 788 1340 748 1026 748 1026 788 1340 787 1341 748 1026 787 1341 749 1027 749 1027 787 1341 786 1342 749 1027 786 1342 753 1031 753 1031 786 1342 785 1343 753 1031 785 1343 751 1029 751 1029 785 1343 784 1344 751 1029 784 1344 752 1030 752 1030 784 1344 772 1345 752 1030 772 1345 756 1034 756 1034 772 1345 767 1346 756 1034 767 1346 754 1032 754 1032 767 1346 766 1347 754 1032 766 1347 755 1033 755 1033 766 1347 771 1348 755 1033 771 1348 759 1037 759 1037 771 1348 770 1349 759 1037 770 1349 757 1035 757 1035 770 1349 769 1350 757 1035 769 1350 758 1036 758 1036 769 1350 783 1351 758 1036 783 1351 762 1040 762 1040 783 1351 782 1352 762 1040 782 1352 760 1038 760 1038 782 1352 781 1353 760 1038 781 1353 761 1039 761 1039 781 1353 780 1354 761 1039 780 1354 765 1043 765 1043 780 1354 779 1355 765 1043 779 1355 763 1041 763 1041 779 1355 778 1356 763 1041 778 1356 764 1042 764 1042 778 1356 777 1333 813 1089 826 1357 793 1069 793 1069 826 1357 825 1358 793 1069 825 1358 791 1067 791 1067 825 1358 824 1359 791 1067 824 1359 792 1068 792 1068 824 1359 817 1360 792 1068 817 1360 796 1072 796 1072 817 1360 823 1361 796 1072 823 1361 794 1070 794 1070 823 1361 822 1362 794 1070 822 1362 795 1071 795 1071 822 1362 838 1363 795 1071 838 1363 799 1075 799 1075 838 1363 837 1364 799 1075 837 1364 797 1073 797 1073 837 1364 836 1365 797 1073 836 1365 798 1074 798 1074 836 1365 835 1366 798 1074 835 1366 802 1078 802 1078 835 1366 834 1367 802 1078 834 1367 800 1076 800 1076 834 1367 833 1368 800 1076 833 1368 801 1077 801 1077 833 1368 821 1369 801 1077 821 1369 805 1081 805 1081 821 1369 816 1370 805 1081 816 1370 803 1079 803 1079 816 1370 815 1371 803 1079 815 1371 804 1080 804 1080 815 1371 820 1372 804 1080 820 1372 808 1084 808 1084 820 1372 819 1373 808 1084 819 1373 806 1082 806 1082 819 1373 818 1374 806 1082 818 1374 807 1083 807 1083 818 1374 832 1375 807 1083 832 1375 811 1087 811 1087 832 1375 831 1376 811 1087 831 1376 809 1085 809 1085 831 1376 830 1377 809 1085 830 1377 810 1086 810 1086 830 1377 829 1378 810 1086 829 1378 814 1090 814 1090 829 1378 828 1379 814 1090 828 1379 812 1088 812 1088 828 1379 827 1380 812 1088 827 1380 813 1089 813 1089 827 1380 826 1357</p>
-        </polylist>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_controllers/>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="Actor0_001" name="Actor0_001" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#ActorShape0_0-Mesh_003-mesh">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="Rohr_007_001-material" target="#Rohr_007_001-material"/>
-              <instance_material symbol="SWMaterial-1_004_002_001-material" target="#SWMaterial-1_004_002_001-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/resources/boxy.urdf b/resources/robots/boxy.urdf
similarity index 100%
rename from resources/boxy.urdf
rename to resources/robots/boxy.urdf
diff --git a/resources/hsrb.urdf b/resources/robots/hsrb.urdf
similarity index 100%
rename from resources/hsrb.urdf
rename to resources/robots/hsrb.urdf
diff --git a/resources/iai_donbot.urdf b/resources/robots/iai_donbot.urdf
similarity index 100%
rename from resources/iai_donbot.urdf
rename to resources/robots/iai_donbot.urdf
diff --git a/resources/pr2.urdf b/resources/robots/pr2.urdf
similarity index 100%
rename from resources/pr2.urdf
rename to resources/robots/pr2.urdf
diff --git a/resources/pr2_calibrated_with_ft.urdf b/resources/robots/pr2_calibrated_with_ft.urdf
similarity index 100%
rename from resources/pr2_calibrated_with_ft.urdf
rename to resources/robots/pr2_calibrated_with_ft.urdf
diff --git a/resources/stretch.urdf b/resources/robots/stretch.urdf
similarity index 100%
rename from resources/stretch.urdf
rename to resources/robots/stretch.urdf
diff --git a/resources/tiago_dual.urdf b/resources/robots/tiago_dual.urdf
similarity index 100%
rename from resources/tiago_dual.urdf
rename to resources/robots/tiago_dual.urdf
diff --git a/resources/ur5_robotiq.urdf b/resources/robots/ur5_robotiq.urdf
similarity index 100%
rename from resources/ur5_robotiq.urdf
rename to resources/robots/ur5_robotiq.urdf
diff --git a/resources/ur5e_without_gripper.urdf b/resources/robots/ur5e_without_gripper.urdf
similarity index 100%
rename from resources/ur5e_without_gripper.urdf
rename to resources/robots/ur5e_without_gripper.urdf
diff --git a/src/output.txt b/src/output.txt
new file mode 100644
index 000000000..bcf0ef94b
--- /dev/null
+++ b/src/output.txt
@@ -0,0 +1,112 @@
+File pycram/bullet_world_reasoning.py: 2467 words, 364 lines
+File pycram/pose_generator_and_validator.py: 1205 words, 207 lines
+File pycram/test/__pycache__/test_giskard.cpython-38.pyc: 105 words, 3 lines (not NL-terminated)
+File pycram/test/_trial_temp/test.log: 9 words, 1 line
+File pycram/helper.py: 1106 words, 225 lines (not NL-terminated)
+File pycram/task.py: 1275 words, 302 lines
+File pycram/orm/task.py: 195 words, 34 lines
+File pycram/orm/utils.py: 1164 words, 186 lines
+File pycram/orm/action_designator.py: 575 words, 120 lines
+File pycram/orm/object_designator.py: 213 words, 55 lines
+File pycram/orm/base.py: 840 words, 232 lines
+File pycram/orm/motion_designator.py: 502 words, 122 lines
+File pycram/orm/__init__.py: 10 words, 1 line
+File pycram/enums.py: 126 words, 66 lines
+File pycram/process_modules/hsr_process_modules.py: 2676 words, 574 lines
+File pycram/process_modules/boxy_process_modules.py: 1142 words, 241 lines
+File pycram/process_modules/pr2_process_modules.py: 1989 words, 440 lines
+File pycram/process_modules/__init__.pyc: 75 words, 5 lines (not NL-terminated)
+File pycram/process_modules/donbot_process_modules.py: 1118 words, 239 lines
+File pycram/process_modules/__init__.py: 35 words, 11 lines
+File pycram/process_modules/default_process_modules.py: 1066 words, 237 lines
+File pycram/utils.py: 217 words, 35 lines
+File pycram/utils.pyc: 327 words, 13 lines (not NL-terminated)
+File pycram/designators/action_designator.py: 1821 words, 409 lines
+File pycram/designators/object_designator.py: 725 words, 177 lines
+File pycram/designators/actions/__pycache__/__init__.cpython-38.pyc: 26 words, 2 lines (not NL-terminated)
+File pycram/designators/actions/__pycache__/actions.cpython-38.pyc: 3445 words, 166 lines (not NL-terminated)
+File pycram/designators/actions/actions.py: 2299 words, 639 lines
+File pycram/designators/motion_designator.py: 1196 words, 398 lines
+File pycram/designators/location_designator.py: 1967 words, 345 lines
+File pycram/robot_descriptions/donbot_description.py: 599 words, 84 lines
+File pycram/robot_descriptions/ur5_description.py: 262 words, 42 lines
+File pycram/robot_descriptions/tiago_description.py: 699 words, 126 lines
+File pycram/robot_descriptions/__init__.py: 293 words, 73 lines
+File pycram/robot_descriptions/hsr_description.py: 381 words, 49 lines (not NL-terminated)
+File pycram/robot_descriptions/boxy_description.py: 878 words, 105 lines (not NL-terminated)
+File pycram/robot_descriptions/pr2_description.py: 788 words, 105 lines
+File pycram/external_interfaces/giskard.py: 3139 words, 625 lines
+File pycram/external_interfaces/robokudo.py: 647 words, 136 lines
+File pycram/external_interfaces/knowrob.py: 512 words, 126 lines
+File pycram/external_interfaces/ik.py: 897 words, 136 lines
+File pycram/failure_handling.py: 353 words, 93 lines
+File pycram/designator.py: 2775 words, 678 lines (not NL-terminated)
+File pycram/resolver/location/giskard_location.py: 387 words, 56 lines
+File pycram/resolver/location/__pycache__/jpt_location.cpython-38.pyc: 1633 words, 91 lines (not NL-terminated)
+File pycram/resolver/location/__pycache__/database_location.cpython-38.pyc: 831 words, 54 lines (not NL-terminated)
+File pycram/resolver/location/__pycache__/__init__.cpython-38.pyc: 26 words, 2 lines (not NL-terminated)
+File pycram/resolver/location/__pycache__/giskard_location.cpython-38.pyc: 545 words, 30 lines (not NL-terminated)
+File pycram/resolver/location/database_location.py: 617 words, 118 lines
+File pycram/resolver/location/jpt_location.py: 1236 words, 254 lines
+File pycram/resolver/__init__.py: 6 words, 1 line (not NL-terminated)
+File pycram/pose.py: 2617 words, 513 lines
+File pycram/costmaps.py: 5178 words, 758 lines
+File pycram/fluent.py: 1713 words, 392 lines
+File pycram/__init__.pyc: 207 words, 23 lines (not NL-terminated)
+File pycram/process_module.py: 1515 words, 360 lines
+File pycram/language.py: 2657 words, 540 lines
+File pycram/event.py: 284 words, 67 lines
+File pycram/robot_description.py: 2959 words, 513 lines
+File pycram/__init__.py: 168 words, 37 lines
+File pycram/local_transformer.py: 921 words, 160 lines
+File pycram/bullet_world.py: 10192 words, 1687 lines
+File pycram/ros/__pycache__/robot_state_updater.cpython-38.pyc: 592 words, 43 lines (not NL-terminated)
+File pycram/ros/__pycache__/force_torque_sensor.cpython-38.pyc: 550 words, 34 lines (not NL-terminated)
+File pycram/ros/__pycache__/viz_marker_publisher.cpython-38.pyc: 766 words, 47 lines (not NL-terminated)
+File pycram/ros/__pycache__/joint_state_publisher.cpython-38.pyc: 498 words, 31 lines (not NL-terminated)
+File pycram/ros/__pycache__/tf_broadcaster.cpython-38.pyc: 759 words, 52 lines (not NL-terminated)
+File pycram/ros/__pycache__/__init__.cpython-38.pyc: 25 words, 2 lines (not NL-terminated)
+File pycram/ros/tf_broadcaster.py: 532 words, 103 lines
+File pycram/ros/force_torque_sensor.py: 403 words, 80 lines
+File pycram/ros/robot_state_updater.py: 371 words, 71 lines
+File pycram/ros/joint_state_publisher.py: 314 words, 63 lines
+File pycram/ros/viz_marker_publisher.py: 572 words, 112 lines
+File pycram/plan_failures.py: 1151 words, 387 lines
+File pycram/knowrob/__pycache__/reasoning.cpython-38.pyc: 452 words, 25 lines
+File pycram/knowrob/__pycache__/__init__.cpython-38.pyc: 25 words, 2 lines (not NL-terminated)
+Total input: 76 files (76 new, 0 old), 82841 words
+
+pycram/__init__.pyc consists for 52 % of pycram/__init__.py material
+pycram/process_modules/boxy_process_modules.py consists for 39 % of pycram/process_modules/pr2_process_modules.py material
+pycram/process_modules/boxy_process_modules.py consists for 36 % of pycram/process_modules/donbot_process_modules.py material
+pycram/resolver/location/giskard_location.py consists for 38 % of pycram/resolver/location/__pycache__/giskard_location.cpython-38.pyc material
+pycram/process_modules/pr2_process_modules.py consists for 37 % of pycram/process_modules/default_process_modules.py material
+pycram/utils.py consists for 37 % of pycram/utils.pyc material
+pycram/process_modules/hsr_process_modules.py consists for 32 % of pycram/process_modules/pr2_process_modules.py material
+pycram/process_modules/hsr_process_modules.py consists for 10 % of pycram/process_modules/boxy_process_modules.py material
+pycram/process_modules/hsr_process_modules.py consists for 4 % of pycram/process_modules/donbot_process_modules.py material
+pycram/ros/__pycache__/robot_state_updater.cpython-38.pyc consists for 28 % of pycram/ros/robot_state_updater.py material
+pycram/ros/__pycache__/robot_state_updater.cpython-38.pyc consists for 6 % of pycram/ros/__pycache__/force_torque_sensor.cpython-38.pyc material
+pycram/process_modules/donbot_process_modules.py consists for 28 % of pycram/process_modules/default_process_modules.py material
+pycram/resolver/location/database_location.py consists for 28 % of pycram/resolver/location/jpt_location.py material
+pycram/robot_descriptions/tiago_description.py consists for 25 % of pycram/robot_descriptions/pr2_description.py material
+pycram/ros/__pycache__/joint_state_publisher.cpython-38.pyc consists for 18 % of pycram/ros/joint_state_publisher.py material
+pycram/ros/__pycache__/joint_state_publisher.cpython-38.pyc consists for 9 % of pycram/ros/__pycache__/tf_broadcaster.cpython-38.pyc material
+pycram/ros/__pycache__/tf_broadcaster.cpython-38.pyc consists for 18 % of pycram/ros/tf_broadcaster.py material
+pycram/ros/__pycache__/force_torque_sensor.cpython-38.pyc consists for 17 % of pycram/ros/force_torque_sensor.py material
+pycram/ros/__pycache__/force_torque_sensor.cpython-38.pyc consists for 14 % of pycram/ros/__pycache__/joint_state_publisher.cpython-38.pyc material
+pycram/ros/__pycache__/viz_marker_publisher.cpython-38.pyc consists for 14 % of pycram/ros/viz_marker_publisher.py material
+pycram/ros/__pycache__/viz_marker_publisher.cpython-38.pyc consists for 4 % of pycram/ros/__pycache__/joint_state_publisher.cpython-38.pyc material
+pycram/resolver/location/__pycache__/jpt_location.cpython-38.pyc consists for 12 % of pycram/resolver/location/jpt_location.py material
+pycram/resolver/location/__pycache__/jpt_location.cpython-38.pyc consists for 3 % of pycram/ros/__pycache__/robot_state_updater.cpython-38.pyc material
+pycram/robot_descriptions/donbot_description.py consists for 9 % of pycram/robot_descriptions/hsr_description.py material
+pycram/robot_descriptions/hsr_description.py consists for 8 % of pycram/robot_descriptions/boxy_description.py material
+pycram/ros/force_torque_sensor.py consists for 7 % of pycram/ros/joint_state_publisher.py material
+pycram/resolver/location/__pycache__/database_location.cpython-38.pyc consists for 7 % of pycram/resolver/location/database_location.py material
+pycram/external_interfaces/knowrob.py consists for 6 % of pycram/knowrob/__pycache__/reasoning.cpython-38.pyc material
+pycram/resolver/location/__pycache__/giskard_location.cpython-38.pyc consists for 5 % of pycram/ros/__pycache__/robot_state_updater.cpython-38.pyc material
+pycram/designators/motion_designator.py consists for 5 % of pycram/designator.py material
+pycram/resolver/location/jpt_location.py consists for 4 % of pycram/costmaps.py material
+pycram/robot_descriptions/boxy_description.py consists for 3 % of pycram/robot_descriptions/pr2_description.py material
+pycram/designators/actions/__pycache__/actions.cpython-38.pyc consists for 1 % of pycram/resolver/location/__pycache__/giskard_location.cpython-38.pyc material
+pycram/designators/actions/__pycache__/actions.cpython-38.pyc consists for 1 % of pycram/designators/actions/actions.py material
diff --git a/src/pycram/__init__.py b/src/pycram/__init__.py
index 878e37441..d1d5875f4 100644
--- a/src/pycram/__init__.py
+++ b/src/pycram/__init__.py
@@ -18,13 +18,9 @@
 process_module -- implementation of process modules.
 """
 
-from . import utils
-
 import logging
 import logging.config
 
-# with datastructures.suppress_stdout_stderr():
-#     import pycram.process_modules
 import pycram.process_modules
 
 logging.basicConfig(level=logging.WARNING, format='%(levelname)s - %(name)s  - Line:%(lineno)d - %(message)s')
@@ -34,4 +30,4 @@
 formatter = logging.Formatter('%(levelname)s - %(name)s  - Line:%(lineno)d - %(message)s')
 ch.setFormatter(formatter)
 
-#from .resolver import *
+#from .specialized_designators import *
diff --git a/src/pycram/cache_manager.py b/src/pycram/cache_manager.py
index 29191db9e..1c7b86cea 100644
--- a/src/pycram/cache_manager.py
+++ b/src/pycram/cache_manager.py
@@ -1,3 +1,4 @@
+import glob
 import os
 import pathlib
 
@@ -86,12 +87,14 @@ def look_for_file_in_data_dir(self, path_object: pathlib.Path) -> str:
 
         :param path_object: The pathlib object of the file to look for.
         """
-
         name = path_object.name
         for data_dir in self.data_directory:
-            for file in os.listdir(data_dir):
-                if file == name:
-                    return data_dir + f"/{name}"
+            data_path = pathlib.Path(data_dir).joinpath("**")
+            for file in glob.glob(str(data_path), recursive=True):
+                file_path = pathlib.Path(file)
+                if file_path.name == name:
+                    print(f"Found file {name} in {file_path}")
+                    return str(file_path)
 
         raise FileNotFoundError(
             f"File {name} could not be found in the resource directory {self.data_directory}")
diff --git a/src/pycram/costmaps.py b/src/pycram/costmaps.py
index 07a061146..7aa34d0e4 100644
--- a/src/pycram/costmaps.py
+++ b/src/pycram/costmaps.py
@@ -12,12 +12,12 @@
 from matplotlib import colors
 from nav_msgs.msg import OccupancyGrid, MapMetaData
 
-from .world import UseProspectionWorld
+from .datastructures.world import UseProspectionWorld
 from .world_concepts.world_object import Object
 from .description import Link
 from .local_transformer import LocalTransformer
 from .datastructures.pose import Pose, Transform
-from .world import World
+from .datastructures.world import World
 from .datastructures.dataclasses import AxisAlignedBoundingBox, BoxVisualShape, Color
 
 
diff --git a/src/pycram/datastructures/pose.py b/src/pycram/datastructures/pose.py
index 960a4ca19..2fcdae63a 100644
--- a/src/pycram/datastructures/pose.py
+++ b/src/pycram/datastructures/pose.py
@@ -268,6 +268,42 @@ def insert(self, session: sqlalchemy.orm.Session) -> ORMPose:
 
         return pose
 
+    def multiply_quaternions(self, quaternion: List) -> None:
+        """
+        Multiply the quaternion of this Pose with the given quaternion, the result will be the new orientation of this
+        Pose.
+
+        :param quaternion: The quaternion by which the orientation of this Pose should be multiplied
+        """
+        x1, y1, z1, w1 = quaternion
+        x2, y2, z2, w2 = self.orientation_as_list()
+
+        w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2
+        x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2
+        y = w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2
+        z = w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2
+
+        self.orientation = (x, y, z, w)
+
+    def set_orientation_from_euler(self, axis: List, euler_angles: List[float]) -> None:
+        """
+        Convert axis-angle to quaternion.
+
+        :param axis: (x, y, z) tuple representing rotation axis.
+        :param angle: rotation angle in degree
+        :return: The quaternion representing the axis angle
+        """
+        angle = math.radians(euler_angles)
+        axis_length = math.sqrt(sum([i ** 2 for i in axis]))
+        normalized_axis = tuple(i / axis_length for i in axis)
+
+        x = normalized_axis[0] * math.sin(angle / 2)
+        y = normalized_axis[1] * math.sin(angle / 2)
+        z = normalized_axis[2] * math.sin(angle / 2)
+        w = math.cos(angle / 2)
+
+        return (x, y, z, w)
+
 
 class Transform(TransformStamped):
     """
diff --git a/src/pycram/world.py b/src/pycram/datastructures/world.py
similarity index 98%
rename from src/pycram/world.py
rename to src/pycram/datastructures/world.py
index a1d64e65a..920a81c8a 100644
--- a/src/pycram/world.py
+++ b/src/pycram/datastructures/world.py
@@ -14,20 +14,20 @@
 from typing_extensions import List, Optional, Dict, Tuple, Callable, TYPE_CHECKING
 from typing_extensions import Union
 
-from .cache_manager import CacheManager
-from .datastructures.enums import JointType, ObjectType, WorldMode
-from .world_concepts.event import Event
-from .local_transformer import LocalTransformer
-from .datastructures.pose import Pose, Transform
-from .world_concepts.constraints import Constraint
-from .datastructures.dataclasses import (Color, AxisAlignedBoundingBox, CollisionCallbacks,
+from ..cache_manager import CacheManager
+from .enums import JointType, ObjectType, WorldMode
+from ..world_concepts.event import Event
+from ..local_transformer import LocalTransformer
+from .pose import Pose, Transform
+from ..world_concepts.constraints import Constraint
+from .dataclasses import (Color, AxisAlignedBoundingBox, CollisionCallbacks,
                                                MultiBody, VisualShape, BoxVisualShape, CylinderVisualShape, SphereVisualShape,
                                                CapsuleVisualShape, PlaneVisualShape, MeshVisualShape,
                                                ObjectState, State, WorldState)
 
 if TYPE_CHECKING:
-    from .world_concepts.world_object import Object
-    from .description import Link, Joint
+    from ..world_concepts.world_object import Object
+    from ..description import Link, Joint
 
 
 class StateEntity:
@@ -127,7 +127,7 @@ class World(StateEntity, ABC):
      the URDF with the name of the URDF on the parameter server. 
     """
 
-    data_directory: List[str] = [os.path.join(os.path.dirname(__file__), '..', '..', 'resources')]
+    data_directory: List[str] = [os.path.join(os.path.dirname(__file__), '..', '..', '..', 'resources')]
     """
     Global reference for the data directories, this is used to search for the description files of the robot 
     and the objects.
diff --git a/src/pycram/description.py b/src/pycram/description.py
index 01ce538ba..0ad05d7f1 100644
--- a/src/pycram/description.py
+++ b/src/pycram/description.py
@@ -11,7 +11,7 @@
 from .datastructures.enums import JointType
 from .local_transformer import LocalTransformer
 from .datastructures.pose import Pose, Transform
-from .world import WorldEntity
+from .datastructures.world import WorldEntity
 from .datastructures.dataclasses import JointState, AxisAlignedBoundingBox, Color, LinkState, VisualShape
 
 if TYPE_CHECKING:
diff --git a/src/pycram/designator.py b/src/pycram/designator.py
index 385ac8a7a..a08dd17bd 100644
--- a/src/pycram/designator.py
+++ b/src/pycram/designator.py
@@ -8,9 +8,9 @@
 from sqlalchemy.orm.session import Session
 import rospy
 
-from .world import World
+from .datastructures.world import World
 from .world_concepts.world_object import Object as WorldObject
-from .helper import GeneratorList, bcolors
+from .utils import GeneratorList, bcolors
 from threading import Lock
 from time import time
 from typing_extensions import List, Dict, Any, Optional, Union, Callable, Iterable
@@ -27,7 +27,7 @@
 from .orm.object_designator import (Object as ORMObjectDesignator)
 
 from .orm.base import RobotState, ProcessMetaData
-from .task import with_tree
+from .tasktree import with_tree
 
 
 class DesignatorError(Exception):
@@ -61,7 +61,7 @@ class Designator(ABC):
     Implementation of designators. DEPRECTAED SINCE DESIGNATOR DESCRIPTIONS ARE USED AS BASE CLASS
 
     Designators are objects containing sequences of key-value pairs. They can be resolved which means to generate real
-    parameters for executing actions from these pairs of key and value.
+    parameters for executing performables from these pairs of key and value.
 
     :ivar timestamp: The timestamp of creation of reference or None if still not referencing an object.
     """
@@ -316,7 +316,7 @@ def rename_prop(self, old: str, new: str) -> Designator:
 
 class DesignatorDescription(ABC):
     """
-    :ivar resolve: The resolver function to use for this designator, defaults to self.ground
+    :ivar resolve: The specialized_designators function to use for this designator, defaults to self.ground
     """
 
     def __init__(self, resolver: Optional[Callable] = None):
@@ -447,7 +447,7 @@ def ground(self) -> Action:
 
     def __iter__(self):
         """
-        Iterate through all possible actions fitting this description
+        Iterate through all possible performables fitting this description
 
         :yield: A resolved action designator
         """
@@ -623,7 +623,7 @@ def __init__(self, names: Optional[List[str]] = None, types: Optional[List[Objec
 
         :param names: A list of names that could describe the object
         :param types: A list of types that could represent the object
-        :param resolver: An alternative resolver that returns an object designator for the list of names and types
+        :param resolver: An alternative specialized_designators that returns an object designator for the list of names and types
         """
         super().__init__(resolver)
         self.types: Optional[List[ObjectType]] = types
diff --git a/src/pycram/designators/action_designator.py b/src/pycram/designators/action_designator.py
index f22fa75dc..b9ee04fa2 100644
--- a/src/pycram/designators/action_designator.py
+++ b/src/pycram/designators/action_designator.py
@@ -5,13 +5,13 @@
 from .object_designator import ObjectDesignatorDescription, BelieveObject, ObjectPart
 from ..datastructures.enums import Arms
 from ..designator import ActionDesignatorDescription
-from .actions.actions import (ParkArmsActionPerformable, MoveTorsoActionPerformable,
-                                                SetGripperActionPerformable, GripActionPerformable,
-                                                PlaceActionPerformable, PickUpActionPerformable,
-                                                NavigateActionPerformable, TransportActionPerformable,
-                                                LookAtActionPerformable, DetectActionPerformable, OpenActionPerformable,
-                                                CloseActionPerformable, GraspingActionPerformable,
-                                                ReleaseActionPerformable)
+from .performables.actions import (ParkArmsActionPerformable, MoveTorsoActionPerformable,
+                                   SetGripperActionPerformable, GripActionPerformable,
+                                   PlaceActionPerformable, PickUpActionPerformable,
+                                   NavigateActionPerformable, TransportActionPerformable,
+                                   LookAtActionPerformable, DetectActionPerformable, OpenActionPerformable,
+                                   CloseActionPerformable, GraspingActionPerformable,
+                                   ReleaseActionPerformable)
 from ..datastructures.pose import Pose
 
 
@@ -25,7 +25,7 @@ def __init__(self, positions: List[float], resolver=None):
         Create a designator description to move the torso of the robot up and down.
 
         :param positions: List of possible positions of the robots torso, possible position is a float of height in metres
-        :param resolver: An optional resolver that returns a performable designator for a designator description.
+        :param resolver: An optional specialized_designators that returns a performable designator for a designator description.
         """
         super().__init__(resolver)
         self.positions: List[float] = positions
@@ -59,7 +59,7 @@ def __init__(self, grippers: List[str], motions: List[str], resolver=None):
 
         :param grippers: A list of possible grippers
         :param motions: A list of possible motions
-        :param resolver: An alternative resolver that returns a performable designator for a designator description
+        :param resolver: An alternative specialized_designators that returns a performable designator for a designator description
         """
         super().__init__(resolver)
         self.grippers: List[str] = grippers
@@ -67,7 +67,7 @@ def __init__(self, grippers: List[str], motions: List[str], resolver=None):
 
     def ground(self) -> SetGripperActionPerformable:
         """
-        Default resolver that returns a performable designator with the first element in the grippers and motions list.
+        Default specialized_designators that returns a performable designator with the first element in the grippers and motions list.
 
         :return: A performable designator
         """
@@ -132,14 +132,14 @@ def __init__(self, arms: List[Arms], resolver=None):
         Moves the arms in the pre-defined parking position. Arms are taken from pycram.enum.Arms
 
         :param arms: A list of possible arms, that could be used
-        :param resolver: An optional resolver that returns a performable designator from the designator description
+        :param resolver: An optional specialized_designators that returns a performable designator from the designator description
         """
         super().__init__(resolver)
         self.arms: List[Arms] = arms
 
     def ground(self) -> ParkArmsActionPerformable:
         """
-        Default resolver that returns a performable designator with the first element of the list of possible arms
+        Default specialized_designators that returns a performable designator with the first element of the list of possible arms
 
         :return: A performable designator
         """
@@ -160,7 +160,7 @@ def __init__(self, object_designator_description:  Union[ObjectDesignatorDescrip
         :param object_designator_description: List of possible object designator
         :param arms: List of possible arms that could be used
         :param grasps: List of possible grasps for the object
-        :param resolver: An optional resolver that returns a performable designator with elements from the lists of possible paramter
+        :param resolver: An optional specialized_designators that returns a performable designator with elements from the lists of possible paramter
         """
         super().__init__(resolver)
         self.object_designator_description: Union[
@@ -170,7 +170,7 @@ def __init__(self, object_designator_description:  Union[ObjectDesignatorDescrip
 
     def ground(self) -> PickUpActionPerformable:
         """
-        Default resolver, returns a performable designator with the first entries from the lists of possible parameter.
+        Default specialized_designators, returns a performable designator with the first entries from the lists of possible parameter.
 
         :return: A performable designator
         """
@@ -207,7 +207,7 @@ def __init__(self,
 
     def ground(self) -> PlaceActionPerformable:
         """
-        Default resolver that returns a performable designator with the first entries from the list of possible entries.
+        Default specialized_designators that returns a performable designator with the first entries from the list of possible entries.
 
         :return: A performable designator
         """
@@ -227,14 +227,14 @@ def __init__(self, target_locations: List[Pose], resolver=None):
         Navigates the robot to a location.
 
         :param target_locations: A list of possible target locations for the navigation.
-        :param resolver: An alternative resolver that creates a performable designator from the list of possible parameter
+        :param resolver: An alternative specialized_designators that creates a performable designator from the list of possible parameter
         """
         super().__init__(resolver)
         self.target_locations: List[Pose] = target_locations
 
     def ground(self) -> NavigateActionPerformable:
         """
-        Default resolver that returns a performable designator with the first entry of possible target locations.
+        Default specialized_designators that returns a performable designator with the first entry of possible target locations.
 
         :return: A performable designator
         """
@@ -256,7 +256,7 @@ def __init__(self,
         :param object_designator_description: Object designator description or a specified Object designator that should be transported
         :param arms: A List of possible arms that could be used for transporting
         :param target_locations: A list of possible target locations for the object to be placed
-        :param resolver: An alternative resolver that returns a performable designator for the list of possible parameter
+        :param resolver: An alternative specialized_designators that returns a performable designator for the list of possible parameter
         """
         super().__init__(resolver)
         self.object_designator_description: Union[
@@ -266,7 +266,7 @@ def __init__(self,
 
     def ground(self) -> TransportActionPerformable:
         """
-        Default resolver that returns a performable designator with the first entries from the lists of possible parameter.
+        Default specialized_designators that returns a performable designator with the first entries from the lists of possible parameter.
 
         :return: A performable designator
         """
@@ -287,14 +287,14 @@ def __init__(self, targets: List[Pose], resolver=None):
         Moves the head of the robot such that it points towards the given target location.
 
         :param targets: A list of possible locations to look at
-        :param resolver: An alternative resolver that returns a performable designator for a list of possible target locations
+        :param resolver: An alternative specialized_designators that returns a performable designator for a list of possible target locations
         """
         super().__init__(resolver)
         self.targets: List[Pose] = targets
 
     def ground(self) -> LookAtActionPerformable:
         """
-        Default resolver that returns a performable designator with the first entry in the list of possible targets
+        Default specialized_designators that returns a performable designator with the first entry in the list of possible targets
 
         :return: A performable designator
         """
@@ -311,14 +311,14 @@ def __init__(self, object_designator_description: ObjectDesignatorDescription, r
         Tries to detect an object in the field of view (FOV) of the robot.
 
         :param object_designator_description: Object designator describing the object
-        :param resolver: An alternative resolver
+        :param resolver: An alternative specialized_designators
         """
         super().__init__(resolver)
         self.object_designator_description: ObjectDesignatorDescription = object_designator_description
 
     def ground(self) -> DetectActionPerformable:
         """
-        Default resolver that returns a performable designator with the resolved object description.
+        Default specialized_designators that returns a performable designator with the resolved object description.
 
         :return: A performable designator
         """
@@ -338,7 +338,7 @@ def __init__(self, object_designator_description: ObjectPart, arms: List[str], r
 
         :param object_designator_description: Object designator describing the handle that should be used to open
         :param arms: A list of possible arms that should be used
-        :param resolver: A alternative resolver that returns a performable designator for the lists of possible parameter.
+        :param resolver: A alternative specialized_designators that returns a performable designator for the lists of possible parameter.
         """
         super().__init__(resolver)
         self.object_designator_description: ObjectPart = object_designator_description
@@ -346,7 +346,7 @@ def __init__(self, object_designator_description: ObjectPart, arms: List[str], r
 
     def ground(self) -> OpenActionPerformable:
         """
-        Default resolver that returns a performable designator with the resolved object description and the first entries
+        Default specialized_designators that returns a performable designator with the resolved object description and the first entries
         from the lists of possible parameter.
 
         :return: A performable designator
@@ -368,7 +368,7 @@ def __init__(self, object_designator_description: ObjectPart, arms: List[str],
 
         :param object_designator_description: Object designator description of the handle that should be used
         :param arms: A list of possible arms to use
-        :param resolver: An alternative resolver that returns a performable designator for the list of possible parameter
+        :param resolver: An alternative specialized_designators that returns a performable designator for the list of possible parameter
         """
         super().__init__(resolver)
         self.object_designator_description: ObjectPart = object_designator_description
@@ -376,7 +376,7 @@ def __init__(self, object_designator_description: ObjectPart, arms: List[str],
 
     def ground(self) -> CloseActionPerformable:
         """
-        Default resolver that returns a performable designator with the resolved object designator and the first entry from
+        Default specialized_designators that returns a performable designator with the resolved object designator and the first entry from
         the list of possible arms.
 
         :return: A performable designator
@@ -397,7 +397,7 @@ def __init__(self, arms: List[str], object_description: Union[ObjectDesignatorDe
 
         :param arms: List of Arms that should be used for grasping
         :param object_description: Description of the object that should be grasped
-        :param resolver: An alternative resolver to get a specified designator from the designator description
+        :param resolver: An alternative specialized_designators to get a specified designator from the designator description
         """
         super().__init__(resolver)
         self.arms: List[str] = arms
@@ -405,7 +405,7 @@ def __init__(self, arms: List[str], object_description: Union[ObjectDesignatorDe
 
     def ground(self) -> GraspingActionPerformable:
         """
-        Default resolver that takes the first element from the list of arms and the first solution for the object
+        Default specialized_designators that takes the first element from the list of arms and the first solution for the object
         designator description ond returns it.
 
         :return: A performable action designator that contains specific arguments
diff --git a/src/pycram/designators/location_designator.py b/src/pycram/designators/location_designator.py
index 13f5e8e2c..a5717b466 100644
--- a/src/pycram/designators/location_designator.py
+++ b/src/pycram/designators/location_designator.py
@@ -2,13 +2,13 @@
 from typing_extensions import List, Union, Iterable, Optional, Callable
 
 from .object_designator import ObjectDesignatorDescription, ObjectPart
-from ..world import World, UseProspectionWorld
+from ..datastructures.world import World, UseProspectionWorld
+from ..local_transformer import LocalTransformer
 from ..world_reasoning import link_pose_for_joint_config
 from ..designator import DesignatorError, LocationDesignatorDescription
 from ..costmaps import OccupancyCostmap, VisibilityCostmap, SemanticCostmap, GaussianCostmap
 from ..robot_descriptions import robot_description
 from ..datastructures.enums import JointType
-from ..helper import transform
 from ..pose_generator_and_validator import PoseGenerator, visibility_validator, reachability_validator
 from ..robot_description import ManipulatorDescription
 from ..datastructures.pose import Pose
@@ -28,14 +28,14 @@ def __init__(self, pose: Pose, resolver=None):
         Basic location designator that represents a single pose.
 
         :param pose: The pose that should be represented by this location designator
-        :param resolver: An alternative resolver that returns a resolved location
+        :param resolver: An alternative specialized_designators that returns a resolved location
         """
         super().__init__(resolver)
         self.pose: Pose = pose
 
     def ground(self) -> Location:
         """
-        Default resolver which returns a resolved designator which contains the pose given in init.
+        Default specialized_designators which returns a resolved designator which contains the pose given in init.
 
         :return: A resolved designator
         """
@@ -66,7 +66,7 @@ def __init__(self, relative_pose: Pose = None, reference_object: ObjectDesignato
 
         :param relative_pose: Pose that should be relative, in world coordinate frame
         :param reference_object: Object to which the pose should be relative
-        :param resolver: An alternative resolver that returns a resolved location for the input parameter
+        :param resolver: An alternative specialized_designators that returns a resolved location for the input parameter
         """
         super().__init__(resolver)
         self.relative_pose: Pose = relative_pose
@@ -74,7 +74,7 @@ def __init__(self, relative_pose: Pose = None, reference_object: ObjectDesignato
 
     def ground(self) -> Location:
         """
-        Default resolver which returns a resolved location for description input. Resolved location is the first result
+        Default specialized_designators which returns a resolved location for description input. Resolved location is the first result
         of the iteration of this instance.
 
         :return: A resolved location
@@ -92,10 +92,9 @@ def __iter__(self) -> Iterable[Location]:
                 "Could not ground ObjectRelativeLocation: (Relative) pose and reference object must be given")
         # Fetch the object pose and yield the grounded description
         obj_grounded = self.reference_object.resolve()
-        obj_pose_world = obj_grounded.get_position_and_location()
-        obj_pose_world_flat = [i for sublist in obj_pose_world for i in sublist]
-        relative_pose_flat = [i for sublist in self.relative_pose for i in sublist]
-        pose = transform(obj_pose_world_flat, relative_pose_flat, local_coords=False)
+
+        lt = LocalTransformer()
+        pose = lt.transform_to_object_frame(self.relative_pose, obj_grounded)
 
         yield self.Location(self.relative_pose, pose, self.reference_object)
 
@@ -124,7 +123,7 @@ def __init__(self, target: Union[Pose, ObjectDesignatorDescription.Object],
         :param reachable_for: Object for which the reachability should be calculated, usually a robot
         :param visible_for: Object for which the visibility should be calculated, usually a robot
         :param reachable_arm: An optional arm with which the target should be reached
-        :param resolver: An alternative resolver that returns a resolved location for the given input of this description
+        :param resolver: An alternative specialized_designators that returns a resolved location for the given input of this description
         """
         super().__init__(resolver)
         self.target: Union[Pose, ObjectDesignatorDescription.Object] = target
@@ -134,7 +133,7 @@ def __init__(self, target: Union[Pose, ObjectDesignatorDescription.Object],
 
     def ground(self) -> Location:
         """
-        Default resolver which returns the first result from the iterator of this instance.
+        Default specialized_designators which returns the first result from the iterator of this instance.
 
         :return: A resolved location
         """
@@ -221,7 +220,7 @@ def __init__(self, handle_desig: ObjectPart.Object, robot_desig: ObjectDesignato
 
         :param handle_desig: ObjectPart designator for handle of the drawer
         :param robot: Object designator for the robot which should open the drawer
-        :param resolver: An alternative resolver to create the location
+        :param resolver: An alternative specialized_designators to create the location
         """
         super().__init__(resolver)
         self.handle: ObjectPart.Object = handle_desig
@@ -229,7 +228,7 @@ def __init__(self, handle_desig: ObjectPart.Object, robot_desig: ObjectDesignato
 
     def ground(self) -> Location:
         """
-        Default resolver for this location designator, just returns the first element from the iteration
+        Default specialized_designators for this location designator, just returns the first element from the iteration
 
         :return: A location designator for a pose from which the drawer can be opened
         """
@@ -308,7 +307,7 @@ def __init__(self, urdf_link_name, part_of, for_object=None, resolver=None):
         :param urdf_link_name: Name of the urdf link for which a distribution should be calculated
         :param part_of: Object of which the urdf link is a part
         :param for_object: Optional object that should be placed at the found location
-        :param resolver: An alternative resolver that creates a resolved location for the input parameter of this description
+        :param resolver: An alternative specialized_designators that creates a resolved location for the input parameter of this description
         """
         super().__init__(resolver)
         self.urdf_link_name: str = urdf_link_name
@@ -317,7 +316,7 @@ def __init__(self, urdf_link_name, part_of, for_object=None, resolver=None):
 
     def ground(self) -> Location:
         """
-        Default resolver which returns the first element of the iterator of this instance.
+        Default specialized_designators which returns the first element of the iterator of this instance.
 
         :return: A resolved location
         """
diff --git a/src/pycram/designators/motion_designator.py b/src/pycram/designators/motion_designator.py
index 36c8f1402..f6bb734e5 100644
--- a/src/pycram/designators/motion_designator.py
+++ b/src/pycram/designators/motion_designator.py
@@ -3,9 +3,6 @@
 
 from sqlalchemy.orm import Session
 from .object_designator import ObjectDesignatorDescription, ObjectPart, RealObject
-from ..world import World
-from ..world_concepts.world_object import Object
-from ..designator import DesignatorError
 from ..orm.base import ProcessMetaData
 from ..plan_failures import PerceptionObjectNotFound
 from ..process_module import ProcessModuleManager
@@ -18,7 +15,7 @@
 
 from typing_extensions import Dict, Optional, get_type_hints, get_args, get_origin
 from ..datastructures.pose import Pose
-from ..task import with_tree
+from ..tasktree import with_tree
 
 
 @dataclass
diff --git a/src/pycram/designators/object_designator.py b/src/pycram/designators/object_designator.py
index f7a5cf4e5..7c0114cc9 100644
--- a/src/pycram/designators/object_designator.py
+++ b/src/pycram/designators/object_designator.py
@@ -1,12 +1,12 @@
 import dataclasses
 from typing_extensions import List, Optional, Callable
 import sqlalchemy.orm
-from pycram.world import World
-from pycram.world_concepts.world_object import Object as WorldObject
+from ..datastructures.world import World
+from ..world_concepts.world_object import Object as WorldObject
 from ..designator import ObjectDesignatorDescription
 from ..orm.base import ProcessMetaData
 from ..orm.object_designator import (BelieveObject as ORMBelieveObject, ObjectPart as ORMObjectPart)
-from pycram.datastructures.pose import Pose
+from ..datastructures.pose import Pose
 from ..external_interfaces.robokudo import query
 
 
@@ -67,7 +67,7 @@ def __init__(self, names: List[str],
         :param names: Possible names for the part
         :param part_of: Parent object of which the part should be described
         :param type: Type of the part
-        :param resolver: An alternative resolver to resolve the input parameter to an object designator
+        :param resolver: An alternative specialized_designators to resolve the input parameter to an object designator
         """
         super().__init__(names, type, resolver)
 
@@ -80,7 +80,7 @@ def __init__(self, names: List[str],
 
     def ground(self) -> Object:
         """
-        Default resolver, returns the first result of the iterator of this instance.
+        Default specialized_designators, returns the first result of the iterator of this instance.
 
         :return: A resolved object designator
         """
@@ -101,7 +101,7 @@ def __iter__(self):
 class LocatedObject(ObjectDesignatorDescription):
     """
     Description for KnowRob located objects.
-    **Currently has no resolver**
+    **Currently has no specialized_designators**
     """
 
     @dataclasses.dataclass
@@ -124,7 +124,7 @@ def __init__(self, names: List[str], types: List[str],
         :param types: List of possible types describing the object
         :param reference_frames: Frame of reference in which the object position should be
         :param timestamps: Timestamps for which positions should be returned
-        :param resolver: An alternative resolver that resolves the input parameter to an object designator.
+        :param resolver: An alternative specialized_designators that resolves the input parameter to an object designator.
         """
         super(LocatedObject, self).__init__(names, types, resolver)
         self.reference_frames: List[str] = reference_frames
@@ -134,7 +134,7 @@ def __init__(self, names: List[str], types: List[str],
 class RealObject(ObjectDesignatorDescription):
     """
     Object designator representing an object in the real world, when resolving this object designator description ]
-    RoboKudo is queried to perceive an object fitting the given criteria. Afterward the resolver tries to match
+    RoboKudo is queried to perceive an object fitting the given criteria. Afterward the specialized_designators tries to match
     the found object to an Object in the World.
     """
 
diff --git a/src/pycram/designators/actions/__init__.py b/src/pycram/designators/performables/__init__.py
similarity index 100%
rename from src/pycram/designators/actions/__init__.py
rename to src/pycram/designators/performables/__init__.py
diff --git a/src/pycram/designators/actions/actions.py b/src/pycram/designators/performables/actions.py
similarity index 96%
rename from src/pycram/designators/actions/actions.py
rename to src/pycram/designators/performables/actions.py
index 73fbc1451..236a5ce8d 100644
--- a/src/pycram/designators/actions/actions.py
+++ b/src/pycram/designators/performables/actions.py
@@ -8,18 +8,17 @@
 from ..motion_designator import *
 from ...datastructures.pose import Pose
 from ...datastructures.enums import Arms, Grasp
-from ...task import with_tree
+from ...tasktree import with_tree
 from dataclasses import dataclass, field
 from ..location_designator import CostmapLocation
 from ..object_designator import BelieveObject
-# from ...bullet_world import BulletWorld
-from ...helper import multiply_quaternions
 from ...local_transformer import LocalTransformer
 from ...orm.base import Pose as ORMPose
 from ...orm.object_designator import Object as ORMObject
 from ...orm.action_designator import Action as ORMAction
 from ...plan_failures import ObjectUnfetchable, ReachabilityFailure
 from ...robot_descriptions import robot_description
+from ...datastructures.world import World
 from ...orm.action_designator import (ParkArmsAction as ORMParkArmsAction, NavigateAction as ORMNavigateAction,
                                       PickUpAction as ORMPickUpAction, PlaceAction as ORMPlaceAction,
                                       MoveTorsoAction as ORMMoveTorsoAction, SetGripperAction as ORMSetGripperAction,
@@ -31,7 +30,7 @@
 
 @dataclass
 class ActionAbstract(ActionDesignatorDescription.Action, abc.ABC):
-    """Base class for performable actions."""
+    """Base class for performable performables."""
     orm_class: Type[ORMAction] = field(init=False, default=None)
     """
     The ORM class that is used to insert this action into the database. Must be overwritten by every action in order to
@@ -252,15 +251,18 @@ def perform(self) -> None:
         # Transform the adjusted pose to the map frame
         adjusted_oTm = object.local_transformer.transform_pose(adjusted_pose, "map")
         # multiplying the orientation therefore "rotating" it, to get the correct orientation of the gripper
-        ori = multiply_quaternions([adjusted_oTm.orientation.x, adjusted_oTm.orientation.y,
-                                    adjusted_oTm.orientation.z, adjusted_oTm.orientation.w],
-                                   grasp)
-
-        # Set the orientation of the object pose by grasp in MAP
-        adjusted_oTm.orientation.x = ori[0]
-        adjusted_oTm.orientation.y = ori[1]
-        adjusted_oTm.orientation.z = ori[2]
-        adjusted_oTm.orientation.w = ori[3]
+
+        adjusted_oTm.multiply_quaternions(grasp)
+
+        # ori = multiply_quaternions([adjusted_oTm.orientation.x, adjusted_oTm.orientation.y,
+        #                             adjusted_oTm.orientation.z, adjusted_oTm.orientation.w],
+        #                            grasp)
+        #
+        # # Set the orientation of the object pose by grasp in MAP
+        # adjusted_oTm.orientation.x = ori[0]
+        # adjusted_oTm.orientation.y = ori[1]
+        # adjusted_oTm.orientation.z = ori[2]
+        # adjusted_oTm.orientation.w = ori[3]
 
         # prepose depending on the gripper (its annoying we have to put pr2_1 here tbh
         # gripper_frame = "pr2_1/l_gripper_tool_frame" if self.arm == "left" else "pr2_1/r_gripper_tool_frame"
diff --git a/src/pycram/resolver/__init__.py b/src/pycram/designators/specialized_designators/__init__.py
similarity index 100%
rename from src/pycram/resolver/__init__.py
rename to src/pycram/designators/specialized_designators/__init__.py
diff --git a/src/pycram/resolver/location/__init__.py b/src/pycram/designators/specialized_designators/location/__init__.py
similarity index 100%
rename from src/pycram/resolver/location/__init__.py
rename to src/pycram/designators/specialized_designators/location/__init__.py
diff --git a/src/pycram/resolver/location/database_location.py b/src/pycram/designators/specialized_designators/location/database_location.py
similarity index 94%
rename from src/pycram/resolver/location/database_location.py
rename to src/pycram/designators/specialized_designators/location/database_location.py
index 35daae321..fed856d37 100644
--- a/src/pycram/resolver/location/database_location.py
+++ b/src/pycram/designators/specialized_designators/location/database_location.py
@@ -4,11 +4,11 @@
 import sqlalchemy.sql
 from sqlalchemy import select, Select
 from typing_extensions import List, Type
-from ...costmaps import Rectangle, OccupancyCostmap
-from ...designator import LocationDesignatorDescription
-from ...designators.location_designator import CostmapLocation
-from ...orm.views import PickUpWithContextView
-from ...datastructures.pose import Pose
+from ....costmaps import Rectangle, OccupancyCostmap
+from ....designator import LocationDesignatorDescription
+from ....designators.location_designator import CostmapLocation
+from ....orm.views import PickUpWithContextView
+from ....datastructures.pose import Pose
 
 
 @dataclass
diff --git a/src/pycram/resolver/location/giskard_location.py b/src/pycram/designators/specialized_designators/location/giskard_location.py
similarity index 83%
rename from src/pycram/resolver/location/giskard_location.py
rename to src/pycram/designators/specialized_designators/location/giskard_location.py
index 3bf4aa42a..4d592982a 100644
--- a/src/pycram/resolver/location/giskard_location.py
+++ b/src/pycram/designators/specialized_designators/location/giskard_location.py
@@ -1,14 +1,14 @@
 import tf
 
-from ...datastructures.pose import Pose
-from ...designators.location_designator import CostmapLocation
-from ...external_interfaces.giskard import projection_cartesian_goal_with_approach, projection_joint_goal
-from ...robot_description import ManipulatorDescription
-from ...world import UseProspectionWorld, World
-from ...robot_descriptions import robot_description
-from ...local_transformer import LocalTransformer
-from ...costmaps import OccupancyCostmap, GaussianCostmap
-from ...pose_generator_and_validator import PoseGenerator
+from ....datastructures.pose import Pose
+from ....designators.location_designator import CostmapLocation
+from ....external_interfaces.giskard import projection_cartesian_goal_with_approach, projection_joint_goal
+from ....robot_description import ManipulatorDescription
+from ....datastructures.world import UseProspectionWorld, World
+from ....robot_descriptions import robot_description
+from ....local_transformer import LocalTransformer
+from ....costmaps import OccupancyCostmap, GaussianCostmap
+from ....pose_generator_and_validator import PoseGenerator
 
 
 class GiskardLocation(CostmapLocation):
diff --git a/src/pycram/resolver/probabilistic/__init__.py b/src/pycram/designators/specialized_designators/probabilistic/__init__.py
similarity index 100%
rename from src/pycram/resolver/probabilistic/__init__.py
rename to src/pycram/designators/specialized_designators/probabilistic/__init__.py
diff --git a/src/pycram/resolver/probabilistic/probabilistic_action.py b/src/pycram/designators/specialized_designators/probabilistic/probabilistic_action.py
similarity index 91%
rename from src/pycram/resolver/probabilistic/probabilistic_action.py
rename to src/pycram/designators/specialized_designators/probabilistic/probabilistic_action.py
index 348f0627e..1edd48a46 100644
--- a/src/pycram/resolver/probabilistic/probabilistic_action.py
+++ b/src/pycram/designators/specialized_designators/probabilistic/probabilistic_action.py
@@ -9,27 +9,26 @@
 from random_events.variables import Symbolic, Continuous
 import tqdm
 from typing_extensions import Optional, List, Iterator
-from ...world import World
-from ...costmaps import OccupancyCostmap, VisibilityCostmap
-from ...designator import ActionDesignatorDescription, ObjectDesignatorDescription
-from ...designators.actions.actions import MoveAndPickUpPerformable, ActionAbstract
-from ...datastructures.enums import Arms, Grasp, TaskStatus
-from ...local_transformer import LocalTransformer
-from ...orm.task import TaskTreeNode
-from ...orm.views import PickUpWithContextView
-from ...plan_failures import ObjectUnreachable, PlanFailure
-from ...datastructures.pose import Pose
+from ....datastructures.world import World
+from ....costmaps import OccupancyCostmap, VisibilityCostmap
+from ....designator import ActionDesignatorDescription, ObjectDesignatorDescription
+from ....designators.performables.actions import MoveAndPickUpPerformable, ActionAbstract
+from ....datastructures.enums import Arms, Grasp, TaskStatus
+from ....local_transformer import LocalTransformer
+from ....orm.views import PickUpWithContextView
+from ....plan_failures import ObjectUnreachable, PlanFailure
+from ....datastructures.pose import Pose
 
 
 class ProbabilisticAction:
     """
-    Abstract class for probabilistic actions.
+    Abstract class for probabilistic performables.
     """
 
     @dataclass
     class Variables:
         """
-        Variables for probabilistic actions.
+        Variables for probabilistic performables.
 
         This inner class serves the purpose to define the variables that are used in a model and make them easily
         accessible for the user. The user can access the variables by using the dot notation, e.g. `self.variables.x`.
@@ -235,7 +234,7 @@ def ground_model(self, model: Optional[ProbabilisticCircuit] = None,
 
     def iter_with_mode(self) -> Iterator[MoveAndPickUpPerformable]:
         """
-        Generate actions by sampling from the mode of the policy conditioned on visibility and occupancy.
+        Generate performables by sampling from the mode of the policy conditioned on visibility and occupancy.
         """
         model = self.ground_model()
         modes, _ = model.mode()
@@ -248,7 +247,7 @@ def iter_with_mode(self) -> Iterator[MoveAndPickUpPerformable]:
 
     def __iter__(self) -> Iterator[MoveAndPickUpPerformable]:
         """
-        Generate actions by sampling from the policy conditioned on visibility and occupancy.
+        Generate performables by sampling from the policy conditioned on visibility and occupancy.
         """
         model = self.ground_model(self.policy, self.events_from_occupancy_and_visibility_costmap())
         samples = model.sample(self.sample_amount)
@@ -263,7 +262,7 @@ def __iter__(self) -> Iterator[MoveAndPickUpPerformable]:
 
     def iterate_without_occupancy_costmap(self) -> Iterator[MoveAndPickUpPerformable]:
         """
-        Generate actions by sampling from the policy without conditioning on visibility and occupancy.
+        Generate performables by sampling from the policy without conditioning on visibility and occupancy.
         """
         samples = self.policy.sample(self.sample_amount)
         for sample in samples:
diff --git a/src/pycram/external_interfaces/giskard.py b/src/pycram/external_interfaces/giskard.py
index 76ff722c7..04a7d8474 100644
--- a/src/pycram/external_interfaces/giskard.py
+++ b/src/pycram/external_interfaces/giskard.py
@@ -8,7 +8,7 @@
 
 from ..datastructures.pose import Pose
 from ..robot_descriptions import robot_description
-from ..world import World
+from ..datastructures.world import World
 from ..datastructures.dataclasses import MeshVisualShape
 from ..world_concepts.world_object import Object
 from ..robot_description import ManipulatorDescription
diff --git a/src/pycram/external_interfaces/ik.py b/src/pycram/external_interfaces/ik.py
index add3b621d..3dd58977f 100644
--- a/src/pycram/external_interfaces/ik.py
+++ b/src/pycram/external_interfaces/ik.py
@@ -8,9 +8,9 @@
 from moveit_msgs.srv import GetPositionIK
 from sensor_msgs.msg import JointState
 
-from ..world import World, UseProspectionWorld
+from ..datastructures.world import World, UseProspectionWorld
 from ..world_concepts.world_object import Object
-from ..helper import calculate_wrist_tool_offset, _apply_ik
+from ..utils import _apply_ik
 from ..local_transformer import LocalTransformer
 from ..datastructures.pose import Pose
 from ..robot_descriptions import robot_description
@@ -193,8 +193,8 @@ def request_kdl_ik(target_pose: Pose, robot: Object, joints: List[str], gripper:
 
     target_torso = local_transformer.transform_pose(target_pose, robot.get_link_tf_frame(base_link))
 
-    diff = calculate_wrist_tool_offset(end_effector, gripper, robot)
-    target_diff = target_torso.to_transform("target").inverse_times(diff).to_pose()
+    wrist_tool_frame_offset = robot.get_transform_between_links(end_effector, gripper)
+    target_diff = target_torso.to_transform("target").inverse_times(wrist_tool_frame_offset).to_pose()
 
     inv = call_ik(base_link, end_effector, target_diff, robot, joints)
 
diff --git a/src/pycram/external_interfaces/robokudo.py b/src/pycram/external_interfaces/robokudo.py
index 5f41af46b..a1a7d618a 100644
--- a/src/pycram/external_interfaces/robokudo.py
+++ b/src/pycram/external_interfaces/robokudo.py
@@ -6,10 +6,10 @@
 import rosnode
 
 from ..designator import ObjectDesignatorDescription
-from pycram.datastructures.pose import Pose
-from pycram.local_transformer import LocalTransformer
-from pycram.world import World
-from pycram.datastructures.enums import ObjectType
+from ..datastructures.pose import Pose
+from ..local_transformer import LocalTransformer
+from ..datastructures.world import World
+from ..datastructures.enums import ObjectType
 
 try:
     from robokudo_msgs.msg import ObjectDesignator as robokudo_ObjetDesignator
diff --git a/src/pycram/helper.py b/src/pycram/helper.py
index 931ebb736..e69de29bb 100644
--- a/src/pycram/helper.py
+++ b/src/pycram/helper.py
@@ -1,193 +0,0 @@
-"""Implementation of helper functions and classes for internal usage only.
-
-Functions:
-_block -- wrap multiple statements into a single block.
-
-Classes:
-GeneratorList -- implementation of generator list wrappers.
-"""
-from inspect import isgeneratorfunction
-from typing_extensions import List, Tuple, Callable, Dict
-
-import numpy as np
-from pytransform3d.rotations import quaternion_wxyz_from_xyzw, quaternion_xyzw_from_wxyz
-from pytransform3d.transformations import transform_from_pq, transform_from, pq_from_transform
-
-from pycram.world_concepts.world_object import Object as WorldObject
-from pycram.datastructures.pose import Transform, Pose
-import math
-
-
-class bcolors:
-    """
-    Color codes which can be used to highlight Text in the Terminal. For example,
-    for warnings.
-    Usage:
-    Firstly import the class into the file.
-    print(f'{bcolors.WARNING} Some Text {bcolors.ENDC}')
-    """
-    HEADER = '\033[95m'
-    OKBLUE = '\033[94m'
-    OKCYAN = '\033[96m'
-    OKGREEN = '\033[92m'
-    WARNING = '\033[93m'
-    FAIL = '\033[91m'
-    ENDC = '\033[0m'
-    BOLD = '\033[1m'
-    UNDERLINE = '\033[4m'
-
-
-def _apply_ik(robot: WorldObject, pose_and_joint_poses: Tuple[Pose, Dict[str, float]]) -> None:
-    """
-    Apllies a list of joint poses calculated by an inverse kinematics solver to a robot
-
-    :param robot: The robot the joint poses should be applied on
-    :param pose_and_joint_poses: The base pose and joint states as returned by the ik solver
-    :return: None
-    """
-    pose, joint_states = pose_and_joint_poses
-    robot.set_pose(pose)
-    robot.set_joint_positions(joint_states)
-
-
-def calculate_wrist_tool_offset(wrist_frame: str, tool_frame: str, robot: WorldObject) -> Transform:
-    return robot.get_transform_between_links(wrist_frame, tool_frame)
-
-
-def transform(pose: List[float],
-              transformation: List[float],
-              local_coords=False):  # TODO: if pose is a list of position and orientation calculate new pose w/ orientation too
-    input_has_rotation = len(pose) == 7
-    transformation_has_rotation = len(transformation) == 7
-    pose_tf = transform_from_pq(
-        np.concatenate((pose[:3], quaternion_wxyz_from_xyzw(pose[3:])))) if input_has_rotation else transform_from(
-        np.eye(3), pose)
-    transformation_tf = transform_from_pq(np.concatenate((transformation[:3], quaternion_wxyz_from_xyzw(
-        transformation[3:])))) if transformation_has_rotation else transform_from(np.eye(3), transformation)
-    if local_coords:
-        res = pose_tf @ transformation_tf
-    else:
-        res = transformation_tf @ pose_tf
-    res = pq_from_transform(res)
-    res[3:] = quaternion_xyzw_from_wxyz(res[3:])
-    if not input_has_rotation:
-        return res[:3].tolist()
-    return res.tolist()
-
-
-class GeneratorList:
-    """Implementation of generator list wrappers.
-
-    Generator lists store the elements of a generator, so these can be fetched multiple times.
-
-    Methods:
-    get -- get the element at a specific index.
-    has -- check if an element at a specific index exists.
-    """
-
-    def __init__(self, generator: Callable):
-        """Create a new generator list.
-
-        Arguments:
-        generator -- the generator to use.
-        """
-        if isgeneratorfunction(generator):
-            self._generator = generator()
-        else:
-            self._generator = generator
-
-        self._generated = []
-
-    def get(self, index: int = 0):
-        """Get the element at a specific index or raise StopIteration if it doesn't exist.
-
-        Arguments:
-        index -- the index to get the element of.
-        """
-        while len(self._generated) <= index:
-            self._generated.append(next(self._generator))
-
-        return self._generated[index]
-
-    def has(self, index: int) -> bool:
-        """Check if an element at a specific index exists and return True or False.
-
-        Arguments:
-        index -- the index to check for.
-        """
-        try:
-            self.get(index)
-            return True
-        except StopIteration:
-            return False
-
-
-def axis_angle_to_quaternion(axis: List, angle: float) -> Tuple:
-    """
-    Convert axis-angle to quaternion.
-
-    :param axis: (x, y, z) tuple representing rotation axis.
-    :param angle: rotation angle in degree
-    :return: The quaternion representing the axis angle
-    """
-    angle = math.radians(angle)
-    axis_length = math.sqrt(sum([i ** 2 for i in axis]))
-    normalized_axis = tuple(i / axis_length for i in axis)
-
-    x = normalized_axis[0] * math.sin(angle / 2)
-    y = normalized_axis[1] * math.sin(angle / 2)
-    z = normalized_axis[2] * math.sin(angle / 2)
-    w = math.cos(angle / 2)
-
-    return (x, y, z, w)
-
-
-def multiply_quaternions(q1: List, q2: List) -> List:
-    """
-    Multiply two quaternions using the robotics convention (x, y, z, w).
-
-    :param q1: The first quaternion
-    :param q2: The second quaternion
-    :return: The quaternion resulting from the multiplication
-    """
-    x1, y1, z1, w1 = q1
-    x2, y2, z2, w2 = q2
-
-    w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2
-    x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2
-    y = w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2
-    z = w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2
-
-    return (x, y, z, w)
-
-
-def quaternion_rotate(q: List, v: List) -> List:
-    """
-    Rotate a vector v using quaternion q.
-
-    :param q: A quaternion of how v should be rotated
-    :param v: A vector that should be rotated by q
-    :return: V rotated by Q as a quaternion
-    """
-    q_conj = (-q[0], -q[1], -q[2], q[3])  # Conjugate of the quaternion
-    v_quat = (*v, 0)  # Represent the vector as a quaternion with w=0
-    return multiply_quaternions(multiply_quaternions(q, v_quat), q_conj)[:3]
-
-
-def multiply_poses(pose1: Pose, pose2: Pose) -> Tuple:
-    """
-    Multiply two poses.
-
-    :param pose1: first Pose that should be multiplied
-    :param pose2: Second Pose that should be multiplied
-    :return: A Tuple of position and quaternion as result of the multiplication
-    """
-    pos1, quat1 = pose1.pose.position, pose1.pose.orientation
-    pos2, quat2 = pose2.pose.position, pose2.pose.orientation
-    # Multiply the orientations
-    new_quat = multiply_quaternions(quat1, quat2)
-
-    # Transform the position
-    new_pos = np.add(pos1, quaternion_rotate(quat1, pos2))
-
-    return new_pos, new_quat
\ No newline at end of file
diff --git a/src/pycram/orm/__init__.py b/src/pycram/orm/__init__.py
index a91a736e4..cc153ce47 100644
--- a/src/pycram/orm/__init__.py
+++ b/src/pycram/orm/__init__.py
@@ -1 +1 @@
-from . import base, action_designator, object_designator, motion_designator, task
+from . import base, action_designator, object_designator, motion_designator, tasktree
diff --git a/src/pycram/orm/base.py b/src/pycram/orm/base.py
index ae38236ca..0e064bd33 100644
--- a/src/pycram/orm/base.py
+++ b/src/pycram/orm/base.py
@@ -173,7 +173,7 @@ def reset(cls):
 
 
 class Designator(Base):
-    """ORM Class holding every performed action and motion serving as every actions and motions root."""
+    """ORM Class holding every performed action and motion serving as every performables and motions root."""
 
     @declared_attr
     def dtype(self) -> Mapped[str]:
diff --git a/src/pycram/orm/task.py b/src/pycram/orm/tasktree.py
similarity index 100%
rename from src/pycram/orm/task.py
rename to src/pycram/orm/tasktree.py
diff --git a/src/pycram/orm/views.py b/src/pycram/orm/views.py
index f49b349f5..51c9136f2 100644
--- a/src/pycram/orm/views.py
+++ b/src/pycram/orm/views.py
@@ -3,10 +3,10 @@
 import sqlalchemy.orm
 from sqlalchemy import table, inspect, event, select, engine, MetaData, Select, TableClause, ExecutableDDLElement
 from sqlalchemy.ext.compiler import compiles
-from pycram.orm.action_designator import PickUpAction
-from pycram.orm.base import Position, RobotState, Pose, Base, Quaternion
-from pycram.orm.object_designator import Object
-from pycram.orm.task import TaskTreeNode
+from .action_designator import PickUpAction
+from .base import Position, RobotState, Pose, Base, Quaternion
+from .object_designator import Object
+from .tasktree import TaskTreeNode
 
 
 class CreateView(ExecutableDDLElement):
@@ -104,7 +104,7 @@ def view(name: str, metadata: MetaData, selectable: Select) -> TableClause:
 
 class PickUpWithContextView(base):
     """
-    View for pickup actions with context.
+    View for pickup performables with context.
     """
 
     __robot_position: Position = sqlalchemy.orm.aliased(Position, flat=True)
diff --git a/src/pycram/pose_generator_and_validator.py b/src/pycram/pose_generator_and_validator.py
index ebee20ded..12115f8fe 100644
--- a/src/pycram/pose_generator_and_validator.py
+++ b/src/pycram/pose_generator_and_validator.py
@@ -1,7 +1,7 @@
 import tf
 import numpy as np
 
-from .world import World
+from .datastructures.world import World
 from .world_concepts.world_object import Object
 from .world_reasoning import contact
 from .costmaps import Costmap
@@ -11,7 +11,7 @@
 from .robot_descriptions import robot_description
 from .external_interfaces.ik import request_ik
 from .plan_failures import IKError
-from .helper import _apply_ik
+from .utils import _apply_ik
 from typing_extensions import Tuple, List, Union, Dict, Iterable
 
 
diff --git a/src/pycram/process_modules/boxy_process_modules.py b/src/pycram/process_modules/boxy_process_modules.py
index 825db1dc7..6b39d6459 100644
--- a/src/pycram/process_modules/boxy_process_modules.py
+++ b/src/pycram/process_modules/boxy_process_modules.py
@@ -1,15 +1,16 @@
 from threading import Lock
 import numpy as np
 from .. import world_reasoning as btr
-import pycram.helper as helper
+from ..utils import _apply_ik
 from ..designators.motion_designator import *
 from ..datastructures.enums import JointType
 from ..external_interfaces.ik import request_ik
 
-from ..world import World
+from ..datastructures.world import World
 from ..local_transformer import LocalTransformer
 from ..process_module import ProcessModule, ProcessModuleManager
 from ..robot_descriptions import robot_description
+from ..world_concepts.world_object import Object
 
 
 def _park_arms(arm):
@@ -187,7 +188,7 @@ class BoxyWorldStateDetecting(ProcessModule):
 
     def _execute(self, desig: WorldStateDetectingMotion):
         obj_type = desig.object_type
-        return list(filter(lambda obj: obj.type == obj_type, World.current_bullet_world.objects))[0]
+        return list(filter(lambda obj: obj.type == obj_type, World.current_world.objects))[0]
 
 
 def _move_arm_tcp(target: Pose, robot: Object, arm: str) -> None:
@@ -196,7 +197,7 @@ def _move_arm_tcp(target: Pose, robot: Object, arm: str) -> None:
     joints = robot_description.chains[arm].joints
 
     inv = request_ik(target, robot, joints, gripper)
-    helper._apply_ik(robot, inv)
+    _apply_ik(robot, inv)
 
 
 class BoxyManager(ProcessModuleManager):
diff --git a/src/pycram/process_modules/default_process_modules.py b/src/pycram/process_modules/default_process_modules.py
index c2bd8fe85..4543d8b52 100644
--- a/src/pycram/process_modules/default_process_modules.py
+++ b/src/pycram/process_modules/default_process_modules.py
@@ -4,12 +4,14 @@
 
 from ..datastructures.enums import JointType
 from ..external_interfaces.ik import request_ik
-from ..helper import _apply_ik
+from ..utils import _apply_ik
 from ..process_module import ProcessModule
 from ..robot_descriptions import robot_description
 from ..local_transformer import LocalTransformer
 from ..designators.motion_designator import *
 from ..world_reasoning import visible, link_pose_for_joint_config
+from ..world_concepts.world_object import Object
+from ..datastructures.world import World
 
 class DefaultNavigation(ProcessModule):
     """
diff --git a/src/pycram/process_modules/hsrb_process_modules.py b/src/pycram/process_modules/hsrb_process_modules.py
index 12bf0fb14..67877f5b5 100644
--- a/src/pycram/process_modules/hsrb_process_modules.py
+++ b/src/pycram/process_modules/hsrb_process_modules.py
@@ -7,13 +7,14 @@
 from ..robot_descriptions import robot_description
 from ..process_module import ProcessModule
 from ..datastructures.pose import Point
-from ..helper import _apply_ik
+from ..utils import _apply_ik
 from ..external_interfaces.ik import request_ik
 from .. import world_reasoning as btr
 from ..local_transformer import LocalTransformer
 from ..designators.motion_designator import *
 from ..external_interfaces import giskard
-
+from ..world_concepts.world_object import Object
+from ..datastructures.world import World
 
 
 def calculate_and_apply_ik(robot, gripper: str, target_position: Point, max_iterations: Optional[int] = None):
diff --git a/src/pycram/process_modules/pr2_process_modules.py b/src/pycram/process_modules/pr2_process_modules.py
index 0f6dbe357..199c8924e 100644
--- a/src/pycram/process_modules/pr2_process_modules.py
+++ b/src/pycram/process_modules/pr2_process_modules.py
@@ -10,14 +10,14 @@
 
 from ..process_module import ProcessModule, ProcessModuleManager
 from ..external_interfaces.ik import request_ik
-from ..helper import _apply_ik
+from ..utils import _apply_ik
 from ..local_transformer import LocalTransformer
 from ..designators.object_designator import ObjectDesignatorDescription
 from ..designators.motion_designator import MoveMotion, LookingMotion, \
     DetectingMotion, MoveTCPMotion, MoveArmJointsMotion, WorldStateDetectingMotion, MoveJointsMotion, \
     MoveGripperMotion, OpeningMotion, ClosingMotion
 from ..robot_descriptions import robot_description
-from ..world import World
+from ..datastructures.world import World
 from ..world_concepts.world_object import Object
 from ..datastructures.pose import Pose
 from ..datastructures.enums import JointType, ObjectType
@@ -240,8 +240,8 @@ def _execute(self, desig: LookingMotion):
         new_pan = np.arctan2(pose_in_pan.position.y, pose_in_pan.position.x)
         new_tilt = np.arctan2(pose_in_tilt.position.z, pose_in_tilt.position.x ** 2 + pose_in_tilt.position.y ** 2) * -1
 
-        current_pan = robot.get_joint_state("head_pan_joint")
-        current_tilt = robot.get_joint_state("head_tilt_joint")
+        current_pan = robot.get_joint_position("head_pan_joint")
+        current_tilt = robot.get_joint_position("head_tilt_joint")
 
         giskard.avoid_all_collisions()
         giskard.achieve_joint_goal({"head_pan_joint": new_pan + current_pan,
diff --git a/src/pycram/process_modules/stretch_process_modules.py b/src/pycram/process_modules/stretch_process_modules.py
index d7eca5231..47554163a 100644
--- a/src/pycram/process_modules/stretch_process_modules.py
+++ b/src/pycram/process_modules/stretch_process_modules.py
@@ -1,13 +1,12 @@
-from threading import Lock
 from typing import Any
 
 import rospy
 
 from ..external_interfaces.robokudo import query
-from ..helper import _apply_ik
+from ..utils import _apply_ik
 from ..external_interfaces import giskard
 from .default_process_modules import *
-from ..world import World
+from ..datastructures.world import World
 from ..designators.motion_designator import *
 from ..external_interfaces.ik import request_giskard_ik
 
diff --git a/src/pycram/robot_description.py b/src/pycram/robot_description.py
index 7d7620435..43188d8e2 100644
--- a/src/pycram/robot_description.py
+++ b/src/pycram/robot_description.py
@@ -5,7 +5,6 @@
 from numbers import Number
 from typing_extensions import List, Optional, Dict, Union, Type
 from urdf_parser_py.urdf import URDF
-from . import utils
 
 
 logger = logging.getLogger(__name__)
@@ -258,7 +257,7 @@ def __init__(self, name: str,
         self.torso_joint: str = torso_joint
 
         rospack = rospkg.RosPack()
-        filename = rospack.get_path('pycram') + '/resources/' + name + '.urdf'
+        filename = rospack.get_path('pycram') + '/resources/robots/' + name + '.urdf'
         with open(filename) as f:
             # with utils.suppress_stdout_stderr():
             self.robot_urdf = URDF.from_xml_string(f.read())
diff --git a/src/pycram/ros/force_torque_sensor.py b/src/pycram/ros/force_torque_sensor.py
index aee3b8f46..5f52503f5 100644
--- a/src/pycram/ros/force_torque_sensor.py
+++ b/src/pycram/ros/force_torque_sensor.py
@@ -6,7 +6,7 @@
 
 from geometry_msgs.msg import WrenchStamped
 from std_msgs.msg import Header
-from pycram.world import World
+from ..datastructures.world import World
 
 
 class ForceTorqueSensor:
diff --git a/src/pycram/ros/joint_state_publisher.py b/src/pycram/ros/joint_state_publisher.py
index f420eec4e..08b78edf2 100644
--- a/src/pycram/ros/joint_state_publisher.py
+++ b/src/pycram/ros/joint_state_publisher.py
@@ -6,7 +6,7 @@
 
 from sensor_msgs.msg import JointState
 from std_msgs.msg import Header
-from pycram.world import World
+from ..datastructures.world import World
 
 
 class JointStatePublisher:
diff --git a/src/pycram/ros/robot_state_updater.py b/src/pycram/ros/robot_state_updater.py
index 72b602e31..0f3ad0f4f 100644
--- a/src/pycram/ros/robot_state_updater.py
+++ b/src/pycram/ros/robot_state_updater.py
@@ -5,9 +5,9 @@
 
 from geometry_msgs.msg import TransformStamped
 from sensor_msgs.msg import JointState
-from pycram.world import World
+from ..datastructures.world import World
 from ..robot_descriptions import robot_description
-from pycram.datastructures.pose import Pose
+from ..datastructures.pose import Pose
 
 
 class RobotStateUpdater:
diff --git a/src/pycram/ros/tf_broadcaster.py b/src/pycram/ros/tf_broadcaster.py
index ab14c1297..9f4661a43 100644
--- a/src/pycram/ros/tf_broadcaster.py
+++ b/src/pycram/ros/tf_broadcaster.py
@@ -3,8 +3,8 @@
 import threading
 import atexit
 
-from pycram.datastructures.pose import Pose
-from pycram.world import World
+from ..datastructures.pose import Pose
+from ..datastructures.world import World
 from tf2_msgs.msg import TFMessage
 
 
diff --git a/src/pycram/ros/viz_marker_publisher.py b/src/pycram/ros/viz_marker_publisher.py
index 6e18fedbe..0aa149e9b 100644
--- a/src/pycram/ros/viz_marker_publisher.py
+++ b/src/pycram/ros/viz_marker_publisher.py
@@ -11,7 +11,7 @@
 from ..datastructures.dataclasses import BoxVisualShape, CylinderVisualShape, MeshVisualShape, SphereVisualShape
 from ..datastructures.pose import Pose, Transform
 from ..designator import ObjectDesignatorDescription
-from ..world import World
+from ..datastructures.world import World
 
 
 class VizMarkerPublisher:
diff --git a/src/pycram/task.py b/src/pycram/tasktree.py
similarity index 97%
rename from src/pycram/task.py
rename to src/pycram/tasktree.py
index d26d63d11..448e1f718 100644
--- a/src/pycram/task.py
+++ b/src/pycram/tasktree.py
@@ -7,23 +7,22 @@
 
 import datetime
 import inspect
-import json
 import logging
-from typing_extensions import List, Dict, Optional, Callable
+from typing_extensions import List, Optional, Callable
 
 import anytree
 import sqlalchemy.orm.session
 import tqdm
 
-from .world import World
-from .orm.task import TaskTreeNode as ORMTaskTreeNode
+from .datastructures.world import World
+from .orm.tasktree import TaskTreeNode as ORMTaskTreeNode
 from .orm.base import ProcessMetaData
 from .plan_failures import PlanFailure
 from .datastructures.enums import TaskStatus
 from .datastructures.dataclasses import Color
 
 if TYPE_CHECKING:
-    from .designators.actions import Action
+    from .designators.performables import Action
 
 
 class NoOperation:
diff --git a/src/pycram/utils.py b/src/pycram/utils.py
index db7c44888..b4c05f098 100644
--- a/src/pycram/utils.py
+++ b/src/pycram/utils.py
@@ -1,35 +1,116 @@
-"""Module for utility functions. This module must not import any pycram module (due to potential circular imports)."""
+"""Implementation of helper functions and classes for internal usage only.
 
-import os
+Functions:
+_block -- wrap multiple statements into a single block.
 
+Classes:
+GeneratorList -- implementation of generator list wrappers.
+"""
+from inspect import isgeneratorfunction
+from typing_extensions import List, Tuple, Callable
 
-class suppress_stdout_stderr(object):
+import numpy as np
+
+from .datastructures.pose import Pose
+import math
+
+from typing_extensions import Dict
+
+
+class bcolors:
+    """
+    Color codes which can be used to highlight Text in the Terminal. For example,
+    for warnings.
+    Usage:
+    Firstly import the class into the file.
+    print(f'{bcolors.WARNING} Some Text {bcolors.ENDC}')
+    """
+    HEADER = '\033[95m'
+    OKBLUE = '\033[94m'
+    OKCYAN = '\033[96m'
+    OKGREEN = '\033[92m'
+    WARNING = '\033[93m'
+    FAIL = '\033[91m'
+    ENDC = '\033[0m'
+    BOLD = '\033[1m'
+    UNDERLINE = '\033[4m'
+
+
+def _apply_ik(robot: 'pycram.world_concepts.WorldObject', pose_and_joint_poses: Tuple[Pose, Dict[str, float]]) -> None:
+    """
+    Apllies a list of joint poses calculated by an inverse kinematics solver to a robot
+
+    :param robot: The robot the joint poses should be applied on
+    :param pose_and_joint_poses: The base pose and joint states as returned by the ik solver
+    :return: None
+    """
+    pose, joint_states = pose_and_joint_poses
+    robot.set_pose(pose)
+    robot.set_joint_positions(joint_states)
+
+
+class GeneratorList:
+    """Implementation of generator list wrappers.
+
+    Generator lists store the elements of a generator, so these can be fetched multiple times.
+
+    Methods:
+    get -- get the element at a specific index.
+    has -- check if an element at a specific index exists.
+    """
+
+    def __init__(self, generator: Callable):
+        """Create a new generator list.
+
+        Arguments:
+        generator -- the generator to use.
+        """
+        if isgeneratorfunction(generator):
+            self._generator = generator()
+        else:
+            self._generator = generator
+
+        self._generated = []
+
+    def get(self, index: int = 0):
+        """Get the element at a specific index or raise StopIteration if it doesn't exist.
+
+        Arguments:
+        index -- the index to get the element of.
+        """
+        while len(self._generated) <= index:
+            self._generated.append(next(self._generator))
+
+        return self._generated[index]
+
+    def has(self, index: int) -> bool:
+        """Check if an element at a specific index exists and return True or False.
+
+        Arguments:
+        index -- the index to check for.
+        """
+        try:
+            self.get(index)
+            return True
+        except StopIteration:
+            return False
+
+
+def axis_angle_to_quaternion(axis: List, angle: float) -> Tuple:
     """
-    A context manager for doing a "deep suppression" of stdout and stderr in
-    Python, i.e. will suppress all prints, even if the print originates in a
-    compiled C/Fortran sub-function.
-
-    This will not suppress raised exceptions, since exceptions are printed
-    to stderr just before a script exits, and after the context manager has
-    exited (at least, I think that is why it lets exceptions through).
-    Copied from https://stackoverflow.com/questions/11130156/suppress-stdout-stderr-print-from-python-functions
+    Convert axis-angle to quaternion.
+
+    :param axis: (x, y, z) tuple representing rotation axis.
+    :param angle: rotation angle in degree
+    :return: The quaternion representing the axis angle
     """
+    angle = math.radians(angle)
+    axis_length = math.sqrt(sum([i ** 2 for i in axis]))
+    normalized_axis = tuple(i / axis_length for i in axis)
+
+    x = normalized_axis[0] * math.sin(angle / 2)
+    y = normalized_axis[1] * math.sin(angle / 2)
+    z = normalized_axis[2] * math.sin(angle / 2)
+    w = math.cos(angle / 2)
 
-    def __init__(self):
-        # Open a pair of null files
-        self.null_fds = [os.open(os.devnull, os.O_RDWR) for x in range(2)]
-        # Save the actual stdout (1) and stderr (2) file descriptors.
-        self.save_fds = [os.dup(1), os.dup(2)]
-
-    def __enter__(self):
-        # Assign the null pointers to stdout and stderr.
-        os.dup2(self.null_fds[0], 1)
-        os.dup2(self.null_fds[1], 2)
-
-    def __exit__(self, *_):
-        # Re-assign the real stdout/stderr back to (1) and (2)
-        os.dup2(self.save_fds[0], 1)
-        os.dup2(self.save_fds[1], 2)
-        # Close all file descriptors
-        for fd in self.null_fds + self.save_fds:
-            os.close(fd)
+    return (x, y, z, w)
diff --git a/src/pycram/world_concepts/world_object.py b/src/pycram/world_concepts/world_object.py
index 5ac03a825..287c63240 100644
--- a/src/pycram/world_concepts/world_object.py
+++ b/src/pycram/world_concepts/world_object.py
@@ -11,7 +11,7 @@
 from ..description import ObjectDescription, LinkDescription
 from ..object_descriptors.urdf import ObjectDescription as URDFObject
 from ..robot_descriptions import robot_description
-from ..world import WorldEntity, World
+from ..datastructures.world import WorldEntity, World
 from ..world_concepts.constraints import Attachment
 from ..datastructures.dataclasses import (Color, ObjectState, LinkState, JointState,
                                                AxisAlignedBoundingBox, VisualShape)
@@ -59,7 +59,9 @@ def __init__(self, name: str, obj_type: ObjectType, path: str,
 
         if pose is None:
             pose = Pose()
-
+        if name in [obj.name for obj in self.world.objects]:
+            rospy.logerr(f"An object with the name {name} already exists in the world.")
+            return None
         self.name: str = name
         self.obj_type: ObjectType = obj_type
         self.color: Color = color
@@ -75,7 +77,7 @@ def __init__(self, name: str, obj_type: ObjectType, path: str,
         self.description.update_description_from_file(self.path)
 
         self.tf_frame = ((self.prospection_world_prefix if self.world.is_prospection_world else "")
-                         + f"{self.name}_{self.id}")
+                         + f"{self.name}")
 
         if robot_description is not None:
             if self.description.name == robot_description.name:
diff --git a/src/pycram/world_reasoning.py b/src/pycram/world_reasoning.py
index 7d91fc3dd..6407ba969 100644
--- a/src/pycram/world_reasoning.py
+++ b/src/pycram/world_reasoning.py
@@ -7,7 +7,7 @@
 from .datastructures.pose import Pose, Transform
 from .robot_descriptions import robot_description
 from .world_concepts.world_object import Object
-from .world import World, UseProspectionWorld
+from .datastructures.world import World, UseProspectionWorld
 
 
 def stable(obj: Object) -> bool:
diff --git a/src/pycram/worlds/bullet_world.py b/src/pycram/worlds/bullet_world.py
index f1bbc00bb..ccddbbdd4 100755
--- a/src/pycram/worlds/bullet_world.py
+++ b/src/pycram/worlds/bullet_world.py
@@ -14,7 +14,7 @@
 from ..datastructures.enums import ObjectType, WorldMode, JointType
 from ..datastructures.pose import Pose
 from ..object_descriptors.urdf import ObjectDescription
-from ..world import World
+from ..datastructures.world import World
 from ..world_concepts.constraints import Constraint
 from ..datastructures.dataclasses import Color, AxisAlignedBoundingBox, MultiBody, VisualShape, BoxVisualShape
 from ..world_concepts.world_object import Object
diff --git a/test/bullet_world_testcase.py b/test/bullet_world_testcase.py
index e82620c66..5c25f9a67 100644
--- a/test/bullet_world_testcase.py
+++ b/test/bullet_world_testcase.py
@@ -1,7 +1,7 @@
 import time
 import unittest
 
-import pycram.task
+import pycram.tasktree
 from pycram.worlds.bullet_world import BulletWorld
 from pycram.world_concepts.world_object import Object
 from pycram.datastructures.pose import Pose
@@ -38,7 +38,7 @@ def setUp(self):
     # Tests in here would not be properly executed in the CI
 
     def tearDown(self):
-        pycram.task.reset_tree()
+        pycram.tasktree.reset_tree()
         time.sleep(0.05)
         self.world.reset_world()
 
@@ -63,6 +63,7 @@ def setUpClass(cls):
         cls.cereal = Object("cereal", ObjectType.BREAKFAST_CEREAL, "breakfast_cereal.stl",
                             ObjectDescription, pose=Pose([1.3, 0.7, 0.95]))
         ProcessModule.execution_delay = False
+        cls.viz_marker_publisher = VizMarkerPublisher()
 
     def setUp(self):
         self.world.reset_world()
diff --git a/test/test_action_designator.py b/test/test_action_designator.py
index af5708b09..0329ead33 100644
--- a/test/test_action_designator.py
+++ b/test/test_action_designator.py
@@ -1,6 +1,6 @@
 import unittest
 from pycram.designators import action_designator, object_designator
-from pycram.designators.actions.actions import MoveTorsoActionPerformable, PickUpActionPerformable, \
+from pycram.designators.performables.actions import MoveTorsoActionPerformable, PickUpActionPerformable, \
     NavigateActionPerformable, FaceAtPerformable
 from pycram.local_transformer import LocalTransformer
 from pycram.robot_descriptions import robot_description
diff --git a/test/test_bullet_world.py b/test/test_bullet_world.py
index 0c9cad689..542b7705b 100644
--- a/test/test_bullet_world.py
+++ b/test/test_bullet_world.py
@@ -252,7 +252,7 @@ class XMLTester(unittest.TestCase):
 
     def setUp(self) -> None:
         rospack = rospkg.RosPack()
-        filename = rospack.get_path('pycram') + '/resources/' + 'pr2.urdf'
+        filename = rospack.get_path('pycram') + '/resources/robots/' + 'pr2.urdf'
         with open(filename, "r") as f:
             self.urdf_string = f.read()
 
diff --git a/test/test_database_merger.py b/test/test_database_merger.py
index 4d00b1fa6..4043deb8e 100644
--- a/test/test_database_merger.py
+++ b/test/test_database_merger.py
@@ -9,8 +9,8 @@
 from pycram.designators.location_designator import *
 from pycram.process_module import simulated_robot
 from pycram.datastructures.enums import Arms, ObjectType, WorldMode
-from pycram.task import with_tree
-import pycram.task
+from pycram.tasktree import with_tree
+import pycram.tasktree
 from pycram.worlds.bullet_world import BulletWorld
 from pycram.world_concepts.world_object import Object
 from pycram.designators.object_designator import *
diff --git a/test/test_database_resolver.py b/test/test_database_resolver.py
index e6021ef60..dd40cb712 100644
--- a/test/test_database_resolver.py
+++ b/test/test_database_resolver.py
@@ -1,14 +1,12 @@
 import os
-import time
 import unittest
 import sqlalchemy
 import sqlalchemy.orm
 import pycram.plan_failures
 from pycram.world_concepts.world_object import Object
-from pycram import task
-from pycram.world import World
+from pycram.datastructures.world import World
 from pycram.designators import action_designator
-from pycram.designators.actions.actions import MoveTorsoActionPerformable, PickUpActionPerformable, \
+from pycram.designators.performables.actions import MoveTorsoActionPerformable, PickUpActionPerformable, \
     NavigateActionPerformable, PlaceActionPerformable
 from pycram.orm.base import Base
 from pycram.designators.object_designator import ObjectDesignatorDescription
@@ -16,9 +14,9 @@
 from pycram.process_module import simulated_robot
 from pycram.datastructures.pose import Pose
 from pycram.robot_descriptions import robot_description
-from pycram.task import with_tree
+from pycram.tasktree import with_tree
 from pycram.datastructures.enums import ObjectType, WorldMode
-from pycram.resolver.location.database_location import DatabaseCostmapLocation
+from pycram.designators.specialized_designators.location.database_location import DatabaseCostmapLocation
 from pycram.worlds.bullet_world import BulletWorld
 
 pycrorm_uri = os.getenv('PYCRORM_URI')
diff --git a/test/test_move_and_pick_up.py b/test/test_move_and_pick_up.py
index e4161e12d..8e0a70233 100644
--- a/test/test_move_and_pick_up.py
+++ b/test/test_move_and_pick_up.py
@@ -1,18 +1,15 @@
 import random
 import unittest
-import time
 
 import numpy as np
-from random_events.events import Event
 
 from pycram.designator import ObjectDesignatorDescription
 from pycram.datastructures.enums import ObjectType
-from pycram.designators.actions.actions import MoveTorsoActionPerformable
+from pycram.designators.performables.actions import MoveTorsoActionPerformable
 from pycram.plan_failures import PlanFailure
 from pycram.process_module import simulated_robot
-from pycram.resolver.probabilistic.probabilistic_action import MoveAndPickUp, GaussianCostmapModel
+from pycram.designators.specialized_designators.probabilistic.probabilistic_action import MoveAndPickUp, GaussianCostmapModel
 from bullet_world_testcase import BulletWorldTestCase
-import plotly.graph_objects as go
 
 
 class GaussianCostmapModelTestCase(unittest.TestCase):
diff --git a/test/test_object.py b/test/test_object.py
index b024526c1..74c22f7b8 100644
--- a/test/test_object.py
+++ b/test/test_object.py
@@ -14,7 +14,7 @@ class TestObject(BulletWorldTestCase):
 
     def test_wrong_object_description_path(self):
         with self.assertRaises(FileNotFoundError):
-            milk = Object("milk2", ObjectType.MILK, "wrong_path.sk")
+            milk = Object("milk_not_found", ObjectType.MILK, "wrong_path.sk")
 
     def test_malformed_object_description(self):
         file_path = pathlib.Path(__file__).parent.resolve()
diff --git a/test/test_orm.py b/test/test_orm.py
index f9c96c126..27739f9bb 100644
--- a/test/test_orm.py
+++ b/test/test_orm.py
@@ -6,20 +6,19 @@
 import pycram.orm.base
 import pycram.orm.motion_designator
 import pycram.orm.object_designator
-import pycram.orm.task
-import pycram.task
-import pycram.task
+import pycram.orm.tasktree
+import pycram.tasktree
 from bullet_world_testcase import BulletWorldTestCase
 from pycram.world_concepts.world_object import Object
 from pycram.designators import action_designator, object_designator, motion_designator
-from pycram.designators.actions.actions import ParkArmsActionPerformable, MoveTorsoActionPerformable, \
+from pycram.designators.performables.actions import ParkArmsActionPerformable, MoveTorsoActionPerformable, \
     SetGripperActionPerformable, PickUpActionPerformable, NavigateActionPerformable, TransportActionPerformable, \
     OpenActionPerformable, CloseActionPerformable, DetectActionPerformable, LookAtActionPerformable
 from pycram.designators.object_designator import BelieveObject
 from pycram.datastructures.enums import ObjectType
 from pycram.datastructures.pose import Pose
 from pycram.process_module import simulated_robot
-from pycram.task import with_tree
+from pycram.tasktree import with_tree
 from pycram.orm.views import PickUpWithContextView
 
 
@@ -39,7 +38,7 @@ def setUp(self):
 
     def tearDown(self):
         super().tearDown()
-        pycram.task.reset_tree()
+        pycram.tasktree.reset_tree()
         pycram.orm.base.ProcessMetaData.reset()
         pycram.orm.base.Base.metadata.drop_all(self.engine)
         self.session.close()
@@ -84,10 +83,10 @@ def test_node(self):
         """Test if the objects in the database is equal with the objects that got serialized."""
         self.plan()
         pycram.orm.base.ProcessMetaData().description = "Unittest"
-        pycram.task.task_tree.root.insert(self.session, )
+        pycram.tasktree.task_tree.root.insert(self.session, )
 
-        node_results = self.session.scalars(select(pycram.orm.task.TaskTreeNode)).all()
-        self.assertEqual(len(node_results), len(pycram.task.task_tree.root))
+        node_results = self.session.scalars(select(pycram.orm.tasktree.TaskTreeNode)).all()
+        self.assertEqual(len(node_results), len(pycram.tasktree.task_tree.root))
 
         position_results = self.session.scalars(select(pycram.orm.base.Position)).all()
         self.assertEqual(14, len(position_results))
@@ -107,22 +106,22 @@ def test_node(self):
     def test_metadata_existence(self):
         pycram.orm.base.ProcessMetaData().description = "metadata_existence_test"
         self.plan()
-        pycram.task.task_tree.root.insert(self.session)
+        pycram.tasktree.task_tree.root.insert(self.session)
         result = self.session.scalars(select(pycram.orm.base.Pose)).all()
         self.assertTrue(all([r.process_metadata is not None for r in result]))
 
     def test_task_tree_node_parents(self):
         self.plan()
         pycram.orm.base.ProcessMetaData().description = "task_tree_node_parents_test"
-        pycram.task.task_tree.root.insert(self.session)
-        result = self.session.scalars(select(pycram.orm.task.TaskTreeNode)).all()
+        pycram.tasktree.task_tree.root.insert(self.session)
+        result = self.session.scalars(select(pycram.orm.tasktree.TaskTreeNode)).all()
         self.assertTrue([result[i].parent == result[result[i].parent_id - 1] for i in range(len(result))
                          if result[i].parent_id is not None])
 
     def test_meta_data(self):
         self.plan()
         pycram.orm.base.ProcessMetaData().description = "Unittest"
-        pycram.task.task_tree.root.insert(self.session, )
+        pycram.tasktree.task_tree.root.insert(self.session, )
         metadata_results = self.session.scalars(select(pycram.orm.base.ProcessMetaData)).all()
         self.assertEqual(1, len(metadata_results))
 
@@ -138,7 +137,7 @@ def test_meta_data(self):
     def test_meta_data_alternation(self):
         self.plan()
         pycram.orm.base.ProcessMetaData().description = "meta_data_alternation_test"
-        pycram.task.task_tree.root.insert(self.session, )
+        pycram.tasktree.task_tree.root.insert(self.session, )
         metadata_result = self.session.scalars(select(pycram.orm.base.ProcessMetaData)).first()
         self.assertEqual(metadata_result.description, "meta_data_alternation_test")
 
@@ -158,14 +157,14 @@ def plan(self):
     def test_pose(self):
         self.plan()
         pycram.orm.base.ProcessMetaData().description = "pose_test"
-        pycram.task.task_tree.root.insert(self.session)
+        pycram.tasktree.task_tree.root.insert(self.session)
         result = self.session.scalars(select(pycram.orm.base.Pose)).all()
         self.assertTrue(all([r.position is not None and r.orientation is not None for r in result]))
 
     def test_pose_mixin(self):
         self.plan()
         pycram.orm.base.ProcessMetaData().description = "pose_mixin_test"
-        pycram.task.task_tree.root.insert(self.session)
+        pycram.tasktree.task_tree.root.insert(self.session)
         result = self.session.scalars(select(pycram.orm.base.RobotState)).all()
         self.assertTrue(all([r.pose is not None and r.pose_id == r.pose.id for r in result]))
 
@@ -183,7 +182,7 @@ def test_plan_serialization(self):
             PickUpActionPerformable(object_description.resolve(), "left", "front").perform()
             description.resolve().perform()
         pycram.orm.base.ProcessMetaData().description = "Unittest"
-        tt = pycram.task.task_tree
+        tt = pycram.tasktree.task_tree
         tt.insert(self.session)
         action_results = self.session.scalars(select(pycram.orm.action_designator.Action)).all()
         motion_results = self.session.scalars(select(pycram.orm.motion_designator.Motion)).all()
@@ -197,8 +196,8 @@ def test_code_designator_type(self):
         with simulated_robot:
             action.perform()
         pycram.orm.base.ProcessMetaData().description = "code_designator_type_test"
-        pycram.task.task_tree.root.insert(self.session)
-        result = self.session.scalars(select(pycram.orm.task.TaskTreeNode).where(pycram.orm.task.TaskTreeNode.
+        pycram.tasktree.task_tree.root.insert(self.session)
+        result = self.session.scalars(select(pycram.orm.tasktree.TaskTreeNode).where(pycram.orm.tasktree.TaskTreeNode.
                                                                                  action_id.isnot(None))).all()
         self.assertEqual(result[0].action.dtype, action_designator.NavigateAction.__name__)
         self.assertEqual(result[1].action.dtype, motion_designator.MoveMotion.__name__)
@@ -208,7 +207,7 @@ def test_parkArmsAction(self):
         with simulated_robot:
             action.perform()
         pycram.orm.base.ProcessMetaData().description = "parkArmsAction_test"
-        pycram.task.task_tree.root.insert(self.session)
+        pycram.tasktree.task_tree.root.insert(self.session)
         result = self.session.scalars(select(pycram.orm.action_designator.ParkArmsAction)).all()
         self.assertTrue(all([result[i + 1].dtype is not pycram.orm.action_designator.Action.dtype
                              if result[i].dtype is pycram.orm.action_designator.ParkArmsAction.dtype else None
@@ -221,7 +220,7 @@ def test_transportAction(self):
         with simulated_robot:
             action.perform()
         pycram.orm.base.ProcessMetaData().description = "transportAction_test"
-        pycram.task.task_tree.root.insert(self.session)
+        pycram.tasktree.task_tree.root.insert(self.session)
         result = self.session.scalars(select(pycram.orm.action_designator.TransportAction)).all()
         milk_object = self.session.scalars(select(pycram.orm.object_designator.Object)).first()
         self.assertEqual(milk_object.pose, result[0].object.pose)
@@ -235,7 +234,7 @@ def test_lookAt_and_detectAction(self):
             LookAtActionPerformable(object_description.resolve().pose).perform()
             action.perform()
         pycram.orm.base.ProcessMetaData().description = "detectAction_test"
-        pycram.task.task_tree.root.insert(self.session)
+        pycram.tasktree.task_tree.root.insert(self.session)
         result = self.session.scalars(select(pycram.orm.action_designator.DetectAction)).all()
         self.assertEqual(result[0].object.name, "milk")
 
@@ -244,7 +243,7 @@ def test_setGripperAction(self):
         with simulated_robot:
             action.perform()
         pycram.orm.base.ProcessMetaData().description = "setGripperAction_test"
-        pycram.task.task_tree.root.insert(self.session)
+        pycram.tasktree.task_tree.root.insert(self.session)
         result = self.session.scalars(select(pycram.orm.action_designator.SetGripperAction)).all()
         self.assertEqual(result[0].gripper, "left")
         self.assertEqual(result[0].motion, "open")
@@ -264,7 +263,7 @@ def test_open_and_closeAction(self):
             CloseActionPerformable(handle_desig, arm="left").perform()
 
         pycram.orm.base.ProcessMetaData().description = "open_and_closeAction_test"
-        pycram.task.task_tree.root.insert(self.session)
+        pycram.tasktree.task_tree.root.insert(self.session)
         open_result = self.session.scalars(select(pycram.orm.action_designator.OpenAction)).all()
         close_result = self.session.scalars(select(pycram.orm.action_designator.CloseAction)).all()
         self.assertTrue(open_result is not None)
@@ -277,7 +276,7 @@ def test_open_and_closeAction(self):
 class ViewsSchemaTest(DatabaseTestCaseMixin):
     def test_view_creation(self):
         pycram.orm.base.ProcessMetaData().description = "view_creation_test"
-        pycram.task.task_tree.root.insert(self.session)
+        pycram.tasktree.task_tree.root.insert(self.session)
         view = PickUpWithContextView
         self.assertEqual(len(view.__table__.columns), 12)
         self.assertEqual(view.__table__.name, "PickUpWithContextView")
@@ -304,7 +303,7 @@ def test_pickUpWithContextView(self):
             PickUpActionPerformable(object_description.resolve(), "left", "front").perform()
             description.resolve().perform()
         pycram.orm.base.ProcessMetaData().description = "pickUpWithContextView_test"
-        pycram.task.task_tree.root.insert(self.session)
+        pycram.tasktree.task_tree.root.insert(self.session)
         result = self.session.scalars(select(PickUpWithContextView)).first()
         self.assertEqual(result.arm, "left")
         self.assertEqual(result.grasp, "front")
@@ -324,7 +323,7 @@ def test_pickUpWithContextView_conditions(self):
             PickUpActionPerformable(object_description.resolve(), "left", "front").perform()
             description.resolve().perform()
         pycram.orm.base.ProcessMetaData().description = "pickUpWithContextView_conditions_test"
-        pycram.task.task_tree.root.insert(self.session)
+        pycram.tasktree.task_tree.root.insert(self.session)
         result = self.session.scalars(select(PickUpWithContextView)
                                       .where(PickUpWithContextView.arm == "right")).all()
         self.assertEqual(result, [])
diff --git a/test/test_task_tree.py b/test/test_task_tree.py
index 55141719d..a4dfaf5c5 100644
--- a/test/test_task_tree.py
+++ b/test/test_task_tree.py
@@ -1,9 +1,9 @@
-from pycram.designators.actions.actions import MoveTorsoActionPerformable, PickUpActionPerformable, \
+from pycram.designators.performables.actions import MoveTorsoActionPerformable, PickUpActionPerformable, \
     NavigateActionPerformable
 from pycram.datastructures.pose import Pose
 from pycram.process_module import simulated_robot
-import pycram.task
-from pycram.task import with_tree
+import pycram.tasktree
+from pycram.tasktree import with_tree
 import unittest
 import anytree
 from bullet_world_testcase import BulletWorldTestCase
@@ -26,21 +26,21 @@ def plan(self):
 
     def setUp(self):
         super().setUp()
-        pycram.task.reset_tree()
+        pycram.tasktree.reset_tree()
 
     def test_tree_creation(self):
         """Test the creation and content of a task tree."""
         self.plan()
         # self.tearDownBulletWorld()
-        tt = pycram.task.task_tree
+        tt = pycram.tasktree.task_tree
 
         self.assertEqual(15, len(tt.root))
         self.assertEqual(10, len(tt.root.leaves))
 
         # check that all nodes succeeded
         for node in anytree.PreOrderIter(tt.root):
-            if not isinstance(node.action, pycram.task.NoOperation):
-                self.assertEqual(node.status, pycram.task.TaskStatus.SUCCEEDED)
+            if not isinstance(node.action, pycram.tasktree.NoOperation):
+                self.assertEqual(node.status, pycram.tasktree.TaskStatus.SUCCEEDED)
 
     def test_exception(self):
         """Test the tree with failing plans."""
@@ -49,38 +49,38 @@ def test_exception(self):
         def failing_plan():
             raise pycram.plan_failures.PlanFailure("PlanFailure for UnitTesting")
 
-        pycram.task.reset_tree()
+        pycram.tasktree.reset_tree()
 
         self.assertRaises(pycram.plan_failures.PlanFailure, failing_plan)
 
-        tt = pycram.task.task_tree
+        tt = pycram.tasktree.task_tree
 
         for node in anytree.PreOrderIter(tt.root):
-            if not isinstance(node.action, pycram.task.NoOperation):
-                self.assertEqual(node.status, pycram.task.TaskStatus.FAILED)
+            if not isinstance(node.action, pycram.tasktree.NoOperation):
+                self.assertEqual(node.status, pycram.tasktree.TaskStatus.FAILED)
                 self.assertEqual(pycram.plan_failures.PlanFailure, type(node.reason))
 
     def test_execution(self):
         self.plan()
         self.world.reset_world()
-        tt = pycram.task.task_tree
+        tt = pycram.tasktree.task_tree
         # self.setUpBulletWorld(False)
         with simulated_robot:
             [node.action.perform() for node in tt.root.leaves]
 
     def test_simulated_tree(self):
-        with pycram.task.SimulatedTaskTree() as st:
+        with pycram.tasktree.SimulatedTaskTree() as st:
             self.plan()
-            tt = pycram.task.task_tree
+            tt = pycram.tasktree.task_tree
 
             self.assertEqual(15, len(tt.root))
             self.assertEqual(10, len(tt.root.leaves))
 
-        self.assertEqual(len(pycram.task.task_tree), 1)
+        self.assertEqual(len(pycram.tasktree.task_tree), 1)
 
     def test_to_sql(self):
         self.plan()
-        tt = pycram.task.task_tree
+        tt = pycram.tasktree.task_tree
         result = tt.root.to_sql()
         self.assertIsNotNone(result)