Apartment sink model is inaccurate in URDF

[daniel86]

The sink components are not appropriately modeled:

• tap has as parent side_B, it should be sink
• there is a rotational joint between tap and sink (the tap can be rotated)
• the tap has a handle component, there is a joint between handle and tap
• the parent of sink is side_B. should it be island_countertop instead?

[HoangGiang93]

FixIssues100-2022-10-13_13.14.31.mp4