<?xml version="1.0" ?>
<robot name="" version="1.0">
  <link name="house_procthor_10k_house"/>
  <joint name="Kitchen_2_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_2"/>
  </joint>
  <link name="Kitchen_2"/>
  <joint name="LivingRoom_3_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_3"/>
  </joint>
  <link name="LivingRoom_3"/>
  <joint name="CounterTop_2_0_joint" type="fixed">
    <origin xyz="7.5205988860130315 -5.217901199340821 0.46919119358062744" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="CounterTop_2_0"/>
  </joint>
  <link name="CounterTop_2_0">
    <visual name="CounterTop_2_0_CountertopL_10_X_6_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/CountertopL_10_X_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="CounterTop_2_0_CountertopL_10_X_6_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/CountertopL_10_X_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Fridge_2_1_joint" type="fixed">
    <origin xyz="8.036741343736649 -2.0887356324195863 0.8694028854370117" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Fridge_2_1"/>
  </joint>
  <link name="Fridge_2_1">
    <visual name="Fridge_2_1_Fridge_24_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/FridgeA_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Fridge_2_1_Fridge_24_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/FridgeA_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="HousePlant_2_2_0_joint" type="fixed">
    <origin xyz="6.566393480634326 -0.2017227702678596 0.44784826040267944" rpy="0.0 0.0 0.7637644410133362"/>
    <parent link="house_procthor_10k_house"/>
    <child link="HousePlant_2_2_0"/>
  </joint>
  <link name="HousePlant_2_2_0">
    <visual name="HousePlant_2_2_0_Houseplant_27_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Houseplant_27.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="HousePlant_2_2_0_Houseplant_27_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Houseplant_27.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="GarbageBag_2_3_joint" type="fixed">
    <origin xyz="5.781200729002973 -0.28260385394096377 0.2789691686630249" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="GarbageBag_2_3"/>
  </joint>
  <link name="GarbageBag_2_3"/>
  <joint name="DiningTable_3_0_joint" type="fixed">
    <origin xyz="2.3469474711484457 -4.48956018781662 0.37087303400039673" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="DiningTable_3_0"/>
  </joint>
  <link name="DiningTable_3_0">
    <visual name="DiningTable_3_0_DiningTable_205__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/DiningTable_205.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="DiningTable_3_0_DiningTable_205__1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/DiningTable_205.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Sofa_3_1_joint" type="fixed">
    <origin xyz="2.05668123793602 -2.4503470102671923 0.4475589096546173" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Sofa_3_1"/>
  </joint>
  <link name="Sofa_3_1">
    <visual name="Sofa_3_1_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_103/meshes/stl/Sofa_221.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Sofa_3_1_Sofa_221__1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Sofa_221.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Television_3_2_joint" type="fixed">
    <origin xyz="2.0371637629256885 -5.0373496427237985 1.8074958056172057" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Television_3_2"/>
  </joint>
  <link name="Television_3_2">
    <visual name="Television_3_2_Television_25_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Television_25.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Television_3_2_Television_25_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Television_25.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Television_2_4_joint" type="fixed">
    <origin xyz="6.729349642723799 -0.9761620453462119 1.4397642278478517" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Television_2_4"/>
  </joint>
  <link name="Television_2_4">
    <visual name="Television_2_4_Television_25_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Television_25.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Television_2_4_Television_25_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Television_25.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_0_joint" type="fixed">
    <origin xyz="4.17523041048951 0.0 1.0517940521240234" 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_Doorway_4_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Doorway_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Door_0_Doorway_4_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Doorway_4.stl" scale="1.0 1.0 1.0"/>
      </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_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_0_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_0.stl" scale="1.0 1.0 1.0"/>
      </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_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_1.stl" scale="1.0 1.0 1.0"/>
      </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_103/meshes/stl/Wall_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_2_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_2.stl" scale="1.0 1.0 1.0"/>
      </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_103/meshes/stl/Wall_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_3_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_3.stl" scale="1.0 1.0 1.0"/>
      </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_103/meshes/stl/Wall_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_4_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_4.stl" scale="1.0 1.0 1.0"/>
      </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_103/meshes/stl/Wall_5.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_5_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_5.stl" scale="1.0 1.0 1.0"/>
      </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_103/meshes/stl/Wall_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_6_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_6.stl" scale="1.0 1.0 1.0"/>
      </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_103/meshes/stl/Wall_7.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_7_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_7.stl" scale="1.0 1.0 1.0"/>
      </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_103/meshes/stl/Wall_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_8_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_9_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_9"/>
  </joint>
  <link name="Wall_9">
    <visual name="Wall_9_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_9.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_9_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_9.stl" scale="1.0 1.0 1.0"/>
      </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_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_10.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_10_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_10.stl" scale="1.0 1.0 1.0"/>
      </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_103/meshes/stl/Wall_11.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_11_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_11.stl" scale="1.0 1.0 1.0"/>
      </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_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_15_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_15_0_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_15_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <visual name="Wall_15_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_15_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_15_1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_15_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <visual name="Wall_15_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_15_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_15_2_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_15_2.stl" scale="1.0 1.0 1.0"/>
      </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_103/meshes/stl/Wall_16.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_16_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_16.stl" scale="1.0 1.0 1.0"/>
      </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_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_17.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_17_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_103/meshes/stl/Wall_17.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
</robot>