<?xml version='1.0' encoding='UTF-8'?>
<robot name="" version="1.0">
  <link name="house_procthor_10k_house"/>
  <joint name="Bedroom_4_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Bedroom_4"/>
  </joint>
  <link name="Bedroom_4"/>
  <joint name="Bathroom_5_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Bathroom_5"/>
  </joint>
  <link name="Bathroom_5"/>
  <joint name="Kitchen_6_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Kitchen_6"/>
  </joint>
  <link name="Kitchen_6"/>
  <joint name="LivingRoom_7_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="LivingRoom_7"/>
  </joint>
  <link name="LivingRoom_7"/>
  <joint name="Bed_4_0_0_joint" type="fixed">
    <origin xyz="11.646095329284668 -3.3318498458862305 0.5166333317756653" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Bed_4_0_0"/>
  </joint>
  <link name="Bed_4_0_0">
    <visual name="Bed_4_0_0_Bed_23_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Bed_23.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Bed_23_convex/Bed_23_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Bed_23_convex/Bed_23_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Bed_23_convex/Bed_23_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Bed_23_convex/Bed_23_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Bed_23_convex/Bed_23_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Bed_23_convex/Bed_23_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Bed_23_convex/Bed_23_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Bed_23_convex/Bed_23_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Bed_23_convex/Bed_23_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Bed_23_convex/Bed_23_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Bed_23_convex/Bed_23_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Bed_23_convex/Bed_23_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Bed_23_convex/Bed_23_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Bed_23_convex/Bed_23_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Bed_23_convex/Bed_23_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Bed_23_convex/Bed_23_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="DiningTable_4_1_0_joint" type="fixed">
    <origin xyz="13.436676511204581 -7.043647655441816 0.3721551299095154" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="DiningTable_4_1_0"/>
  </joint>
  <link name="DiningTable_4_1_0">
    <visual name="DiningTable_4_1_0_RobothorDiningTableExtendable_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/RobothorDiningTableExtendable.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/RobothorDiningTableExtendable_convex/RobothorDiningTableExtendable_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/RobothorDiningTableExtendable_convex/RobothorDiningTableExtendable_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/RobothorDiningTableExtendable_convex/RobothorDiningTableExtendable_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/RobothorDiningTableExtendable_convex/RobothorDiningTableExtendable_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/RobothorDiningTableExtendable_convex/RobothorDiningTableExtendable_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/RobothorDiningTableExtendable_convex/RobothorDiningTableExtendable_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/RobothorDiningTableExtendable_convex/RobothorDiningTableExtendable_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/RobothorDiningTableExtendable_convex/RobothorDiningTableExtendable_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/RobothorDiningTableExtendable_convex/RobothorDiningTableExtendable_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/RobothorDiningTableExtendable_convex/RobothorDiningTableExtendable_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/RobothorDiningTableExtendable_convex/RobothorDiningTableExtendable_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/RobothorDiningTableExtendable_convex/RobothorDiningTableExtendable_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/RobothorDiningTableExtendable_convex/RobothorDiningTableExtendable_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/RobothorDiningTableExtendable_convex/RobothorDiningTableExtendable_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/RobothorDiningTableExtendable_convex/RobothorDiningTableExtendable_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/RobothorDiningTableExtendable_convex/RobothorDiningTableExtendable_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Dresser_4_2_joint" type="fixed">
    <origin xyz="8.561668986558914 -7.069146501203761 0.35076457262039185" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Dresser_4_2"/>
  </joint>
  <link name="Dresser_4_2">
    <visual name="Dresser_4_2_Dresser_229__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Dresser_229.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Dresser_229_convex/Dresser_229_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Dresser_229_convex/Dresser_229_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Dresser_229_convex/Dresser_229_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Dresser_229_convex/Dresser_229_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Dresser_229_convex/Dresser_229_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Dresser_229_convex/Dresser_229_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Dresser_229_convex/Dresser_229_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Dresser_229_convex/Dresser_229_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Dresser_229_convex/Dresser_229_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Dresser_229_convex/Dresser_229_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Dresser_229_convex/Dresser_229_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Dresser_229_convex/Dresser_229_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Dresser_229_convex/Dresser_229_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Dresser_229_convex/Dresser_229_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Dresser_229_convex/Dresser_229_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Dresser_229_convex/Dresser_229_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Toilet_5_0_joint" type="fixed">
    <origin xyz="14.30125795340538 -8.849433625221252 0.5189565420150757" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Toilet_5_0"/>
  </joint>
  <link name="Toilet_5_0">
    <visual name="Toilet_5_0_Toilet_1_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Toilet_1_Done_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Plunger_5_1_joint" type="fixed">
    <origin xyz="8.437148505926132 -10.322996780395508 0.2696691155433655" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Plunger_5_1"/>
  </joint>
  <link name="Plunger_5_1">
    <visual name="Plunger_5_1_Plunger_1_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Plunger.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Plunger_convex/Plunger_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Plunger_convex/Plunger_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Plunger_convex/Plunger_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Plunger_convex/Plunger_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Plunger_convex/Plunger_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Plunger_convex/Plunger_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Plunger_convex/Plunger_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Plunger_convex/Plunger_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Plunger_convex/Plunger_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Plunger_convex/Plunger_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Plunger_convex/Plunger_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Plunger_convex/Plunger_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Plunger_convex/Plunger_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Plunger_convex/Plunger_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Plunger_convex/Plunger_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Plunger_convex/Plunger_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Sink_5_2_0_joint" type="fixed">
    <origin xyz="12.60222319685698 -8.641002023696899 0.48804259300231934" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Sink_5_2_0"/>
  </joint>
  <link name="Sink_5_2_0">
    <visual name="Sink_5_2_0_Sink_20_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Sink_20.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sink_20_convex/Sink_20_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sink_20_convex/Sink_20_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sink_20_convex/Sink_20_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sink_20_convex/Sink_20_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sink_20_convex/Sink_20_convex_12.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sink_20_convex/Sink_20_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sink_20_convex/Sink_20_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sink_20_convex/Sink_20_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sink_20_convex/Sink_20_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sink_20_convex/Sink_20_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sink_20_convex/Sink_20_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sink_20_convex/Sink_20_convex_5.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sink_20_convex/Sink_20_convex_6.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sink_20_convex/Sink_20_convex_7.obj"/>
      </geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sink_20_convex/Sink_20_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sink_20_convex/Sink_20_convex_9.obj"/>
      </geometry>
    </collision>
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  <joint name="GarbageCan_5_3_joint" type="fixed">
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    <parent link="house_procthor_10k_house"/>
    <child link="GarbageCan_5_3"/>
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  <link name="GarbageCan_5_3">
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      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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        <mesh filename="file://dataset_house_100/meshes/stl/Bin_13.stl" scale="1.0 1.0 1.0"/>
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    <collision>
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        <mesh filename="dataset_house_100/meshes/obj/Bin_13_convex/Bin_13_convex_6.obj"/>
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    <collision>
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        <mesh filename="dataset_house_100/meshes/obj/Bin_13_convex/Bin_13_convex_7.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Bin_13_convex/Bin_13_convex_8.obj"/>
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  <joint name="GarbageBag_6_0_joint" type="fixed">
    <origin xyz="7.198614927956845 -3.885275564438958 0.2789691686630249" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="GarbageBag_6_0"/>
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  <link name="GarbageBag_6_0"/>
  <joint name="CounterTop_6_1_joint" type="fixed">
    <origin xyz="7.702859199523925 -10.091724291563034 0.46873316168785095" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="CounterTop_6_1"/>
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  <link name="CounterTop_6_1">
    <visual name="CounterTop_6_1_CountertopI_4_X_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/CountertopI_4_X_2.stl" scale="1.0 1.0 1.0"/>
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    <collision>
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    <collision>
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    <collision>
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    <collision>
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    <collision>
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    <collision>
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    <collision>
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    <collision>
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        <mesh filename="dataset_house_100/meshes/obj/CountertopI_4_X_2_convex/CountertopI_4_X_2_convex_8.obj"/>
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    <collision>
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        <mesh filename="dataset_house_100/meshes/obj/CountertopI_4_X_2_convex/CountertopI_4_X_2_convex_9.obj"/>
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    <origin xyz="4.578759217500686 -7.03323363149844 0.778102457523346" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Fridge_6_2"/>
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  <link name="Fridge_6_2">
    <visual name="Fridge_6_2_Fridge_9_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/FridgeB_6.stl" scale="1.0 1.0 1.0"/>
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    <collision>
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    <collision>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/FridgeB_6_convex/FridgeB_6_convex_5.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/FridgeB_6_convex/FridgeB_6_convex_6.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/FridgeB_6_convex/FridgeB_6_convex_7.obj"/>
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      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/FridgeB_6_convex/FridgeB_6_convex_8.obj"/>
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      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/FridgeB_6_convex/FridgeB_6_convex_9.obj"/>
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    <origin xyz="8.222053832292556 -7.814930733583175 0.30221545696258545" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="ShelvingUnit_6_3"/>
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  <link name="ShelvingUnit_6_3">
    <visual name="ShelvingUnit_6_3_ShelvingUnit_303__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/ShelvingUnit_303.stl" scale="1.0 1.0 1.0"/>
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      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/ShelvingUnit_303_convex/ShelvingUnit_303_convex_0.obj"/>
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      <geometry>
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      <geometry>
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      <geometry>
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  <joint name="TVStand_7_0_0_joint" type="fixed">
    <origin xyz="0.34092079997062685 -0.7349127173423768 0.29677003622055054" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="TVStand_7_0_0"/>
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  <link name="TVStand_7_0_0">
    <visual name="TVStand_7_0_0_TvStand_211__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/TvStand_211.stl" scale="1.0 1.0 1.0"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/TvStand_211_convex/TvStand_211_convex_0.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/TvStand_211_convex/TvStand_211_convex_1.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/TvStand_211_convex/TvStand_211_convex_10.obj"/>
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        <mesh filename="dataset_house_100/meshes/obj/TvStand_211_convex/TvStand_211_convex_11.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/TvStand_211_convex/TvStand_211_convex_12.obj"/>
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    <collision>
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    <collision>
      <geometry>
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    <collision>
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    <collision>
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    <collision>
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  <joint name="DiningTable_7_1_joint" type="fixed">
    <origin xyz="0.3628369510173798 -2.842669673446873 0.47117936611175537" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="DiningTable_7_1"/>
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  <link name="DiningTable_7_1">
    <visual name="DiningTable_7_1_DiningTable_21__2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/DiningTable_201.stl" scale="1.0 1.0 1.0"/>
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        <mesh filename="dataset_house_100/meshes/obj/DiningTable_201_convex/DiningTable_201_convex_0.obj"/>
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        <mesh filename="dataset_house_100/meshes/obj/DiningTable_201_convex/DiningTable_201_convex_1.obj"/>
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    <collision>
      <geometry>
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    <collision>
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        <mesh filename="dataset_house_100/meshes/obj/DiningTable_201_convex/DiningTable_201_convex_12.obj"/>
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    <collision>
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    <collision>
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    <collision>
      <geometry>
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      <geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DiningTable_201_convex/DiningTable_201_convex_3.obj"/>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DiningTable_201_convex/DiningTable_201_convex_5.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DiningTable_201_convex/DiningTable_201_convex_6.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DiningTable_201_convex/DiningTable_201_convex_7.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DiningTable_201_convex/DiningTable_201_convex_8.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DiningTable_201_convex/DiningTable_201_convex_9.obj"/>
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  <joint name="Sofa_7_2_joint" type="fixed">
    <origin xyz="2.730622211872023 -0.3646812379360199 0.4475589096546173" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Sofa_7_2"/>
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  <link name="Sofa_7_2">
    <visual name="Sofa_7_2_Sofa_221__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Sofa_221.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sofa_221_convex/Sofa_221_convex_0.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sofa_221_convex/Sofa_221_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sofa_221_convex/Sofa_221_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sofa_221_convex/Sofa_221_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sofa_221_convex/Sofa_221_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sofa_221_convex/Sofa_221_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sofa_221_convex/Sofa_221_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sofa_221_convex/Sofa_221_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sofa_221_convex/Sofa_221_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sofa_221_convex/Sofa_221_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sofa_221_convex/Sofa_221_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sofa_221_convex/Sofa_221_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sofa_221_convex/Sofa_221_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sofa_221_convex/Sofa_221_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sofa_221_convex/Sofa_221_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Sofa_221_convex/Sofa_221_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="DogBed_7_3_joint" type="fixed">
    <origin xyz="2.3980488731709757 -2.6630690005133877 0.15797579288482666" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="DogBed_7_3"/>
  </joint>
  <link name="DogBed_7_3">
    <visual name="DogBed_7_3_DogBed_2__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/DogBed_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DogBed_2_convex/DogBed_2_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DogBed_2_convex/DogBed_2_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DogBed_2_convex/DogBed_2_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DogBed_2_convex/DogBed_2_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DogBed_2_convex/DogBed_2_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DogBed_2_convex/DogBed_2_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DogBed_2_convex/DogBed_2_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DogBed_2_convex/DogBed_2_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DogBed_2_convex/DogBed_2_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DogBed_2_convex/DogBed_2_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DogBed_2_convex/DogBed_2_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DogBed_2_convex/DogBed_2_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DogBed_2_convex/DogBed_2_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DogBed_2_convex/DogBed_2_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DogBed_2_convex/DogBed_2_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DogBed_2_convex/DogBed_2_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="HousePlant_7_4_0_joint" type="fixed">
    <origin xyz="3.774822630417958 -4.848498300354799 0.44735240936279297" rpy="0.0 0.0 -2.5691170692443848"/>
    <parent link="house_procthor_10k_house"/>
    <child link="HousePlant_7_4_0"/>
  </joint>
  <link name="HousePlant_7_4_0">
    <visual name="HousePlant_7_4_0_Houseplant_11_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Houseplant_11.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Ottoman_7_6_joint" type="fixed">
    <origin xyz="0.2848365843296051 -4.113506512935119 0.20913833379745483" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Ottoman_7_6"/>
  </joint>
  <link name="Ottoman_7_6">
    <visual name="Ottoman_7_6_Ottoman_208__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Ottoman_208.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Ottoman_208_convex/Ottoman_208_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Ottoman_208_convex/Ottoman_208_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Ottoman_208_convex/Ottoman_208_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Ottoman_208_convex/Ottoman_208_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Ottoman_208_convex/Ottoman_208_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Ottoman_208_convex/Ottoman_208_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Ottoman_208_convex/Ottoman_208_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Ottoman_208_convex/Ottoman_208_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Ottoman_208_convex/Ottoman_208_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Ottoman_208_convex/Ottoman_208_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Ottoman_208_convex/Ottoman_208_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Ottoman_208_convex/Ottoman_208_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Ottoman_208_convex/Ottoman_208_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Ottoman_208_convex/Ottoman_208_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Ottoman_208_convex/Ottoman_208_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Ottoman_208_convex/Ottoman_208_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Television_4_3_joint" type="fixed">
    <origin xyz="13.57224851211224 -4.230067928671836 1.5234383153357332" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Television_4_3"/>
  </joint>
  <link name="Television_4_3">
    <visual name="Television_4_3_Television_27_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Television_27.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Television_27_convex/Television_27_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Television_27_convex/Television_27_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Television_27_convex/Television_27_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Television_27_convex/Television_27_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Television_27_convex/Television_27_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Television_27_convex/Television_27_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Television_27_convex/Television_27_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Television_27_convex/Television_27_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Television_27_convex/Television_27_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Television_27_convex/Television_27_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Television_27_convex/Television_27_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Television_27_convex/Television_27_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Television_27_convex/Television_27_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Television_27_convex/Television_27_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Television_27_convex/Television_27_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Television_27_convex/Television_27_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_0_joint" type="fixed">
    <origin xyz="11.12141021718212 -8.338 1.049698829650879" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_0"/>
  </joint>
  <link name="Door_0">
    <visual name="Door_0_DoorwayDouble_8_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/DoorwayDouble_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_1_joint" type="fixed">
    <origin xyz="4.169 -5.190374324022825 1.0371885299682617" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_1"/>
  </joint>
  <link name="Door_1">
    <visual name="Door_1_Doorway_9_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Doorway_9.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Doorway_9_convex/Doorway_9_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Doorway_9_convex/Doorway_9_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Doorway_9_convex/Doorway_9_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Doorway_9_convex/Doorway_9_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Doorway_9_convex/Doorway_9_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Doorway_9_convex/Doorway_9_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Doorway_9_convex/Doorway_9_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Doorway_9_convex/Doorway_9_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Doorway_9_convex/Doorway_9_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Doorway_9_convex/Doorway_9_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Doorway_9_convex/Doorway_9_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Doorway_9_convex/Doorway_9_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Doorway_9_convex/Doorway_9_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Doorway_9_convex/Doorway_9_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Doorway_9_convex/Doorway_9_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Doorway_9_convex/Doorway_9_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_2_joint" type="fixed">
    <origin xyz="8.338 -6.964491372701351 1.0462727337144315" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_2"/>
  </joint>
  <link name="Door_2">
    <visual name="Door_2_DoorwayDouble_7_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/DoorwayDouble_7.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_7_convex/DoorwayDouble_7_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_7_convex/DoorwayDouble_7_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_7_convex/DoorwayDouble_7_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_7_convex/DoorwayDouble_7_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_7_convex/DoorwayDouble_7_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_7_convex/DoorwayDouble_7_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_7_convex/DoorwayDouble_7_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_7_convex/DoorwayDouble_7_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_7_convex/DoorwayDouble_7_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_7_convex/DoorwayDouble_7_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_7_convex/DoorwayDouble_7_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_7_convex/DoorwayDouble_7_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_7_convex/DoorwayDouble_7_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_3_joint" type="fixed">
    <origin xyz="2.8351280540817125 -6.253 1.049698829650879" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_3"/>
  </joint>
  <link name="Door_3">
    <visual name="Door_3_DoorwayDouble_8_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/DoorwayDouble_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_0_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_0"/>
  </joint>
  <link name="Wall_0">
    <visual name="Wall_0_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_0_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_0_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_0_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_0_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_0_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_0_0_convex/Wall_0_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_0_1_convex/Wall_0_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_0_2_convex/Wall_0_2_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_1_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_1"/>
  </joint>
  <link name="Wall_1">
    <visual name="Wall_1_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_1_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_1_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_1_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_1_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_1_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_1_0_convex/Wall_1_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_1_1_convex/Wall_1_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_1_2_convex/Wall_1_2_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_2_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_2"/>
  </joint>
  <link name="Wall_2">
    <visual name="Wall_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_2_convex/Wall_2_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_3_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_3"/>
  </joint>
  <link name="Wall_3">
    <visual name="Wall_3_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_3_convex/Wall_3_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_4_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_4"/>
  </joint>
  <link name="Wall_4">
    <visual name="Wall_4_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_4_convex/Wall_4_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_5_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_5"/>
  </joint>
  <link name="Wall_5">
    <visual name="Wall_5_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_5.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_5_convex/Wall_5_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_6_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_6"/>
  </joint>
  <link name="Wall_6">
    <visual name="Wall_6_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_6_convex/Wall_6_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_7_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_7"/>
  </joint>
  <link name="Wall_7">
    <visual name="Wall_7_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_7.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_7_convex/Wall_7_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_8_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_8"/>
  </joint>
  <link name="Wall_8">
    <visual name="Wall_8_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_8_convex/Wall_8_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_10_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_10"/>
  </joint>
  <link name="Wall_10">
    <visual name="Wall_10_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_10_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_10_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_10_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_10_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_10_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_10_0_convex/Wall_10_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_10_1_convex/Wall_10_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_10_2_convex/Wall_10_2_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_11_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_11"/>
  </joint>
  <link name="Wall_11">
    <visual name="Wall_11_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_11.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_11_convex/Wall_11_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_12_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_12"/>
  </joint>
  <link name="Wall_12">
    <visual name="Wall_12_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_12.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_12_convex/Wall_12_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_15_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_15"/>
  </joint>
  <link name="Wall_15">
    <visual name="Wall_15_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_15.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_15_convex/Wall_15_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_16_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_16"/>
  </joint>
  <link name="Wall_16">
    <visual name="Wall_16_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_16.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_16_convex/Wall_16_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_17_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_17"/>
  </joint>
  <link name="Wall_17">
    <visual name="Wall_17_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_17_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_17_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_17_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_17_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_17_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_17_0_convex/Wall_17_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_17_1_convex/Wall_17_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_17_2_convex/Wall_17_2_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_19_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_19"/>
  </joint>
  <link name="Wall_19">
    <visual name="Wall_19_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_19.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_19_convex/Wall_19_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_20_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_20"/>
  </joint>
  <link name="Wall_20">
    <visual name="Wall_20_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_100/meshes/stl/Wall_20.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_100/meshes/obj/Wall_20_convex/Wall_20_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
</robot>
