<?xml version='1.0' encoding='UTF-8'?>
<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="CounterTop_2_0_joint" type="fixed">
    <origin xyz="4.747859199523926 -2.124275708436966 0.46873316168785095" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="CounterTop_2_0"/>
  </joint>
  <link name="CounterTop_2_0">
    <visual name="CounterTop_2_0_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_136/meshes/stl/CountertopI_4_X_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/CountertopI_4_X_2_convex/CountertopI_4_X_2_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/CountertopI_4_X_2_convex/CountertopI_4_X_2_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/CountertopI_4_X_2_convex/CountertopI_4_X_2_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/CountertopI_4_X_2_convex/CountertopI_4_X_2_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/CountertopI_4_X_2_convex/CountertopI_4_X_2_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/CountertopI_4_X_2_convex/CountertopI_4_X_2_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/CountertopI_4_X_2_convex/CountertopI_4_X_2_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/CountertopI_4_X_2_convex/CountertopI_4_X_2_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/CountertopI_4_X_2_convex/CountertopI_4_X_2_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/CountertopI_4_X_2_convex/CountertopI_4_X_2_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/CountertopI_4_X_2_convex/CountertopI_4_X_2_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/CountertopI_4_X_2_convex/CountertopI_4_X_2_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/CountertopI_4_X_2_convex/CountertopI_4_X_2_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/CountertopI_4_X_2_convex/CountertopI_4_X_2_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/CountertopI_4_X_2_convex/CountertopI_4_X_2_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/CountertopI_4_X_2_convex/CountertopI_4_X_2_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="DiningTable_2_1_0_joint" type="fixed">
    <origin xyz="1.716648607363972 -4.146849329696744 0.37084776163101196" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="DiningTable_2_1_0"/>
  </joint>
  <link name="DiningTable_2_1_0">
    <visual name="DiningTable_2_1_0_RobothorDiningTableJokkmokkV_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_136/meshes/stl/RobothorDiningTableJokkmokk.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/RobothorDiningTableJokkmokk_convex/RobothorDiningTableJokkmokk_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/RobothorDiningTableJokkmokk_convex/RobothorDiningTableJokkmokk_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/RobothorDiningTableJokkmokk_convex/RobothorDiningTableJokkmokk_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/RobothorDiningTableJokkmokk_convex/RobothorDiningTableJokkmokk_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/RobothorDiningTableJokkmokk_convex/RobothorDiningTableJokkmokk_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/RobothorDiningTableJokkmokk_convex/RobothorDiningTableJokkmokk_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/RobothorDiningTableJokkmokk_convex/RobothorDiningTableJokkmokk_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/RobothorDiningTableJokkmokk_convex/RobothorDiningTableJokkmokk_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/RobothorDiningTableJokkmokk_convex/RobothorDiningTableJokkmokk_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/RobothorDiningTableJokkmokk_convex/RobothorDiningTableJokkmokk_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/RobothorDiningTableJokkmokk_convex/RobothorDiningTableJokkmokk_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/RobothorDiningTableJokkmokk_convex/RobothorDiningTableJokkmokk_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/RobothorDiningTableJokkmokk_convex/RobothorDiningTableJokkmokk_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/RobothorDiningTableJokkmokk_convex/RobothorDiningTableJokkmokk_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/RobothorDiningTableJokkmokk_convex/RobothorDiningTableJokkmokk_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/RobothorDiningTableJokkmokk_convex/RobothorDiningTableJokkmokk_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Fridge_2_2_joint" type="fixed">
    <origin xyz="0.3967356324195862 -0.42325865626335146 0.8694028854370117" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Fridge_2_2"/>
  </joint>
  <link name="Fridge_2_2">
    <visual name="Fridge_2_2_Fridge_24_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_136/meshes/stl/FridgeA_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/FridgeA_3_convex/FridgeA_3_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/FridgeA_3_convex/FridgeA_3_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/FridgeA_3_convex/FridgeA_3_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/FridgeA_3_convex/FridgeA_3_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/FridgeA_3_convex/FridgeA_3_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/FridgeA_3_convex/FridgeA_3_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/FridgeA_3_convex/FridgeA_3_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/FridgeA_3_convex/FridgeA_3_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/FridgeA_3_convex/FridgeA_3_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/FridgeA_3_convex/FridgeA_3_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/FridgeA_3_convex/FridgeA_3_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/FridgeA_3_convex/FridgeA_3_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/FridgeA_3_convex/FridgeA_3_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/FridgeA_3_convex/FridgeA_3_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/FridgeA_3_convex/FridgeA_3_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/FridgeA_3_convex/FridgeA_3_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Stool_2_4_joint" type="fixed">
    <origin xyz="5.210608278393746 -6.123199241989039 0.2938048839569092" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Stool_2_4"/>
  </joint>
  <link name="Stool_2_4">
    <visual name="Stool_2_4_Stool_2__4_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_136/meshes/stl/Stool_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Stool_2_convex/Stool_2_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Stool_2_convex/Stool_2_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Stool_2_convex/Stool_2_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Stool_2_convex/Stool_2_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Stool_2_convex/Stool_2_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Stool_2_convex/Stool_2_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Stool_2_convex/Stool_2_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Stool_2_convex/Stool_2_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Stool_2_convex/Stool_2_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Stool_2_convex/Stool_2_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Stool_2_convex/Stool_2_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Stool_2_convex/Stool_2_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Stool_2_convex/Stool_2_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Stool_2_convex/Stool_2_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Stool_2_convex/Stool_2_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Stool_2_convex/Stool_2_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Television_2_5_joint" type="fixed">
    <origin xyz="5.29362519967556 -4.278424154290409 1.330143757146466" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Television_2_5"/>
  </joint>
  <link name="Television_2_5">
    <visual name="Television_2_5_Television_14_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_136/meshes/stl/Television_14.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Television_14_convex/Television_14_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Television_14_convex/Television_14_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Television_14_convex/Television_14_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Television_14_convex/Television_14_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Television_14_convex/Television_14_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Television_14_convex/Television_14_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Television_14_convex/Television_14_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Television_14_convex/Television_14_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Television_14_convex/Television_14_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Television_14_convex/Television_14_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Television_14_convex/Television_14_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Television_14_convex/Television_14_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Television_14_convex/Television_14_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Television_14_convex/Television_14_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Television_14_convex/Television_14_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Television_14_convex/Television_14_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_0_joint" type="fixed">
    <origin xyz="0.0 -5.833067818917576 1.0479662418365479" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_0"/>
  </joint>
  <link name="Door_0">
    <visual name="Door_0_DoorwayDouble_5_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_136/meshes/stl/DoorwayDouble_5.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_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_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_136/meshes/stl/Wall_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Wall_0_convex/Wall_0_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_136/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_136/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_136/meshes/stl/Wall_1_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Wall_1_0_convex/Wall_1_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Wall_1_1_convex/Wall_1_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/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_136/meshes/stl/Wall_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/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_136/meshes/stl/Wall_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/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_136/meshes/stl/Wall_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/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_136/meshes/stl/Wall_5.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_136/meshes/obj/Wall_5_convex/Wall_5_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
</robot>
