<?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="3.4332235722541813 -6.912572652816772 0.46919140219688416" 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_CountertopC_8_X_4_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_158/meshes/stl/CountertopC_8_X_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/CountertopC_8_X_4_convex/CountertopC_8_X_4_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/CountertopC_8_X_4_convex/CountertopC_8_X_4_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/CountertopC_8_X_4_convex/CountertopC_8_X_4_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/CountertopC_8_X_4_convex/CountertopC_8_X_4_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/CountertopC_8_X_4_convex/CountertopC_8_X_4_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/CountertopC_8_X_4_convex/CountertopC_8_X_4_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/CountertopC_8_X_4_convex/CountertopC_8_X_4_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/CountertopC_8_X_4_convex/CountertopC_8_X_4_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/CountertopC_8_X_4_convex/CountertopC_8_X_4_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/CountertopC_8_X_4_convex/CountertopC_8_X_4_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/CountertopC_8_X_4_convex/CountertopC_8_X_4_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/CountertopC_8_X_4_convex/CountertopC_8_X_4_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/CountertopC_8_X_4_convex/CountertopC_8_X_4_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/CountertopC_8_X_4_convex/CountertopC_8_X_4_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/CountertopC_8_X_4_convex/CountertopC_8_X_4_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/CountertopC_8_X_4_convex/CountertopC_8_X_4_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Fridge_2_1_joint" type="fixed">
    <origin xyz="3.4714848070144657 -0.40549843907356264 0.9997926950454712" 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_3_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_158/meshes/stl/FridgeB_5.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/FridgeB_5_convex/FridgeB_5_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/FridgeB_5_convex/FridgeB_5_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/FridgeB_5_convex/FridgeB_5_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/FridgeB_5_convex/FridgeB_5_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/FridgeB_5_convex/FridgeB_5_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/FridgeB_5_convex/FridgeB_5_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/FridgeB_5_convex/FridgeB_5_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/FridgeB_5_convex/FridgeB_5_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/FridgeB_5_convex/FridgeB_5_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/FridgeB_5_convex/FridgeB_5_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/FridgeB_5_convex/FridgeB_5_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/FridgeB_5_convex/FridgeB_5_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/FridgeB_5_convex/FridgeB_5_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/FridgeB_5_convex/FridgeB_5_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/FridgeB_5_convex/FridgeB_5_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/FridgeB_5_convex/FridgeB_5_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="GarbageCan_2_2_joint" type="fixed">
    <origin xyz="0.2188842236995697 -2.639991550676582 0.31416791677474976" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="GarbageCan_2_2"/>
  </joint>
  <link name="GarbageCan_2_2">
    <visual name="GarbageCan_2_2_Bin_22_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_158/meshes/stl/Bin_22.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Bin_22_convex/Bin_22_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Bin_22_convex/Bin_22_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Bin_22_convex/Bin_22_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Bin_22_convex/Bin_22_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Bin_22_convex/Bin_22_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Bin_22_convex/Bin_22_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Bin_22_convex/Bin_22_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Bin_22_convex/Bin_22_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Bin_22_convex/Bin_22_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Bin_22_convex/Bin_22_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Bin_22_convex/Bin_22_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Bin_22_convex/Bin_22_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Bin_22_convex/Bin_22_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Bin_22_convex/Bin_22_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Bin_22_convex/Bin_22_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Bin_22_convex/Bin_22_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="DiningTable_2_3_0_joint" type="fixed">
    <origin xyz="3.2360452752359 -3.5076006908312714 0.3910415768623352" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="DiningTable_2_3_0"/>
  </joint>
  <link name="DiningTable_2_3_0">
    <visual name="DiningTable_2_3_0_DiningTable_221__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_158/meshes/stl/DiningTable_221.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/DiningTable_221_convex/DiningTable_221_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/DiningTable_221_convex/DiningTable_221_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/DiningTable_221_convex/DiningTable_221_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/DiningTable_221_convex/DiningTable_221_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/DiningTable_221_convex/DiningTable_221_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/DiningTable_221_convex/DiningTable_221_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/DiningTable_221_convex/DiningTable_221_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/DiningTable_221_convex/DiningTable_221_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/DiningTable_221_convex/DiningTable_221_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/DiningTable_221_convex/DiningTable_221_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/DiningTable_221_convex/DiningTable_221_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/DiningTable_221_convex/DiningTable_221_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/DiningTable_221_convex/DiningTable_221_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/DiningTable_221_convex/DiningTable_221_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/DiningTable_221_convex/DiningTable_221_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/DiningTable_221_convex/DiningTable_221_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="HousePlant_2_4_0_joint" type="fixed">
    <origin xyz="0.19765326131262997 -7.958279567506491 0.44784826040267944" rpy="0.0 0.0 2.556102991104126"/>
    <parent link="house_procthor_10k_house"/>
    <child link="HousePlant_2_4_0"/>
  </joint>
  <link name="HousePlant_2_4_0">
    <visual name="HousePlant_2_4_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_158/meshes/stl/Houseplant_27.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Stool_2_5_joint" type="fixed">
    <origin xyz="1.4041525698223905 -7.942550421476364 0.37764135003089905" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Stool_2_5"/>
  </joint>
  <link name="Stool_2_5">
    <visual name="Stool_2_5_Stool_2__3_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_158/meshes/stl/Stool_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Stool_2_convex/Stool_2_convex_0.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Stool_2_convex/Stool_2_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Stool_2_convex/Stool_2_convex_10.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Stool_2_convex/Stool_2_convex_11.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Stool_2_convex/Stool_2_convex_12.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Stool_2_convex/Stool_2_convex_13.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Stool_2_convex/Stool_2_convex_14.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Stool_2_convex/Stool_2_convex_15.obj"/>
      </geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Stool_2_convex/Stool_2_convex_2.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Stool_2_convex/Stool_2_convex_3.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Stool_2_convex/Stool_2_convex_4.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Stool_2_convex/Stool_2_convex_5.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Stool_2_convex/Stool_2_convex_6.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Stool_2_convex/Stool_2_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Stool_2_convex/Stool_2_convex_8.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Stool_2_convex/Stool_2_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_0_joint" type="fixed">
    <origin xyz="0.0 -1.1630867778429064 1.0496987104415894" 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_Doorway_8_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_158/meshes/stl/Doorway_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Doorway_8_convex/Doorway_8_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Doorway_8_convex/Doorway_8_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Doorway_8_convex/Doorway_8_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Doorway_8_convex/Doorway_8_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Doorway_8_convex/Doorway_8_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Doorway_8_convex/Doorway_8_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Doorway_8_convex/Doorway_8_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Doorway_8_convex/Doorway_8_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Doorway_8_convex/Doorway_8_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Doorway_8_convex/Doorway_8_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Doorway_8_convex/Doorway_8_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Doorway_8_convex/Doorway_8_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Doorway_8_convex/Doorway_8_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Doorway_8_convex/Doorway_8_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Doorway_8_convex/Doorway_8_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Doorway_8_convex/Doorway_8_convex_9.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_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_158/meshes/stl/Wall_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_158/meshes/obj/Wall_1_convex/Wall_1_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
</robot>
