<?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="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="4.581326582193375 -9.606399932861327 0.47099846601486206" 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_CountertopIsland_4_X_3_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_159/meshes/stl/CountertopIsland_4_X_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/CountertopIsland_4_X_3_convex/CountertopIsland_4_X_3_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/CountertopIsland_4_X_3_convex/CountertopIsland_4_X_3_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/CountertopIsland_4_X_3_convex/CountertopIsland_4_X_3_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/CountertopIsland_4_X_3_convex/CountertopIsland_4_X_3_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/CountertopIsland_4_X_3_convex/CountertopIsland_4_X_3_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/CountertopIsland_4_X_3_convex/CountertopIsland_4_X_3_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/CountertopIsland_4_X_3_convex/CountertopIsland_4_X_3_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/CountertopIsland_4_X_3_convex/CountertopIsland_4_X_3_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/CountertopIsland_4_X_3_convex/CountertopIsland_4_X_3_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/CountertopIsland_4_X_3_convex/CountertopIsland_4_X_3_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/CountertopIsland_4_X_3_convex/CountertopIsland_4_X_3_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/CountertopIsland_4_X_3_convex/CountertopIsland_4_X_3_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/CountertopIsland_4_X_3_convex/CountertopIsland_4_X_3_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/CountertopIsland_4_X_3_convex/CountertopIsland_4_X_3_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/CountertopIsland_4_X_3_convex/CountertopIsland_4_X_3_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/CountertopIsland_4_X_3_convex/CountertopIsland_4_X_3_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Fridge_2_1_joint" type="fixed">
    <origin xyz="9.708873549461364 -9.831240782499313 0.778102457523346" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Fridge_2_1"/>
  </joint>
  <link name="Fridge_2_1">
    <visual name="Fridge_2_1_Fridge_9_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_159/meshes/stl/FridgeE_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/FridgeE_4_convex/FridgeE_4_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/FridgeE_4_convex/FridgeE_4_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/FridgeE_4_convex/FridgeE_4_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/FridgeE_4_convex/FridgeE_4_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/FridgeE_4_convex/FridgeE_4_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/FridgeE_4_convex/FridgeE_4_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/FridgeE_4_convex/FridgeE_4_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/FridgeE_4_convex/FridgeE_4_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/FridgeE_4_convex/FridgeE_4_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/FridgeE_4_convex/FridgeE_4_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/FridgeE_4_convex/FridgeE_4_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/FridgeE_4_convex/FridgeE_4_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/FridgeE_4_convex/FridgeE_4_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/FridgeE_4_convex/FridgeE_4_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/FridgeE_4_convex/FridgeE_4_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/FridgeE_4_convex/FridgeE_4_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="DiningTable_2_2_0_joint" type="fixed">
    <origin xyz="5.584752120645875 -7.630888968046869 0.39023110270500183" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="DiningTable_2_2_0"/>
  </joint>
  <link name="DiningTable_2_2_0">
    <visual name="DiningTable_2_2_0_DiningTable_208__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_159/meshes/stl/DiningTable_208.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="ShelvingUnit_2_3_joint" type="fixed">
    <origin xyz="0.25805080831050875 -5.649303865671158 0.7422387003898621" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="ShelvingUnit_2_3"/>
  </joint>
  <link name="ShelvingUnit_2_3">
    <visual name="ShelvingUnit_2_3_ShelvingUnit_001__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_159/meshes/stl/ShelvingUnit_001.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/ShelvingUnit_001_convex/ShelvingUnit_001_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/ShelvingUnit_001_convex/ShelvingUnit_001_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/ShelvingUnit_001_convex/ShelvingUnit_001_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/ShelvingUnit_001_convex/ShelvingUnit_001_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/ShelvingUnit_001_convex/ShelvingUnit_001_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/ShelvingUnit_001_convex/ShelvingUnit_001_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/ShelvingUnit_001_convex/ShelvingUnit_001_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/ShelvingUnit_001_convex/ShelvingUnit_001_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/ShelvingUnit_001_convex/ShelvingUnit_001_convex_2.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/ShelvingUnit_001_convex/ShelvingUnit_001_convex_3.obj"/>
      </geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/ShelvingUnit_001_convex/ShelvingUnit_001_convex_4.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/ShelvingUnit_001_convex/ShelvingUnit_001_convex_5.obj"/>
      </geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/ShelvingUnit_001_convex/ShelvingUnit_001_convex_6.obj"/>
      </geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/ShelvingUnit_001_convex/ShelvingUnit_001_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/ShelvingUnit_001_convex/ShelvingUnit_001_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/ShelvingUnit_001_convex/ShelvingUnit_001_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="HousePlant_2_5_0_joint" type="fixed">
    <origin xyz="1.4672123240835049 -4.480056521832277 0.44735240936279297" rpy="0.0 0.0 2.0459237098693848"/>
    <parent link="house_procthor_10k_house"/>
    <child link="HousePlant_2_5_0"/>
  </joint>
  <link name="HousePlant_2_5_0">
    <visual name="HousePlant_2_5_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_159/meshes/stl/Houseplant_11.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_0.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_1.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_10.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_11.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_12.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_13.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_14.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_15.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_2.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_3.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_4.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_5.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_6.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_7.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_8.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Houseplant_11_convex/Houseplant_11_convex_9.obj"/>
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  <joint name="GarbageCan_2_6_joint" type="fixed">
    <origin xyz="7.767922031320309 -9.975857267141341 0.32935965061187744" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="GarbageCan_2_6"/>
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  <link name="GarbageCan_2_6">
    <visual name="GarbageCan_2_6_Bin_30_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_159/meshes/stl/Bin_30.stl" scale="1.0 1.0 1.0"/>
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    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Bin_30_convex/Bin_30_convex_0.obj"/>
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    <collision>
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        <mesh filename="dataset_house_159/meshes/obj/Bin_30_convex/Bin_30_convex_1.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Bin_30_convex/Bin_30_convex_10.obj"/>
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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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    <collision>
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    <collision>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
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    <collision>
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    <collision>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Bin_30_convex/Bin_30_convex_9.obj"/>
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  </link>
  <joint name="TVStand_3_0_0_joint" type="fixed">
    <origin xyz="6.470758289337159 -0.6342720031738283 0.37626194953918457" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="TVStand_3_0_0"/>
  </joint>
  <link name="TVStand_3_0_0">
    <visual name="TVStand_3_0_0_TvStand_206__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_159/meshes/stl/TvStand_206.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/TvStand_206_convex/TvStand_206_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/TvStand_206_convex/TvStand_206_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/TvStand_206_convex/TvStand_206_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/TvStand_206_convex/TvStand_206_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/TvStand_206_convex/TvStand_206_convex_12.obj"/>
      </geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/TvStand_206_convex/TvStand_206_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/TvStand_206_convex/TvStand_206_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/TvStand_206_convex/TvStand_206_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/TvStand_206_convex/TvStand_206_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/TvStand_206_convex/TvStand_206_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/TvStand_206_convex/TvStand_206_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/TvStand_206_convex/TvStand_206_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/TvStand_206_convex/TvStand_206_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/TvStand_206_convex/TvStand_206_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/TvStand_206_convex/TvStand_206_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/TvStand_206_convex/TvStand_206_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="DiningTable_3_1_0_joint" type="fixed">
    <origin xyz="7.04538122239686 -4.441248743604049 0.39052218198776245" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="DiningTable_3_1_0"/>
  </joint>
  <link name="DiningTable_3_1_0">
    <visual name="DiningTable_3_1_0_DiningTable_218__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_159/meshes/stl/DiningTable_218.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_10.obj"/>
      </geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_9.obj"/>
      </geometry>
    </collision>
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  <joint name="Sofa_3_2_joint" type="fixed">
    <origin xyz="8.96184661926133 -0.4985131561756134 0.4085739254951477" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Sofa_3_2"/>
  </joint>
  <link name="Sofa_3_2">
    <visual name="Sofa_3_2_RobothorSofaAlrid_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_159/meshes/stl/RobothorSofaAlrid.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/RobothorSofaAlrid_convex/RobothorSofaAlrid_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/RobothorSofaAlrid_convex/RobothorSofaAlrid_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/RobothorSofaAlrid_convex/RobothorSofaAlrid_convex_10.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/RobothorSofaAlrid_convex/RobothorSofaAlrid_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/RobothorSofaAlrid_convex/RobothorSofaAlrid_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/RobothorSofaAlrid_convex/RobothorSofaAlrid_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/RobothorSofaAlrid_convex/RobothorSofaAlrid_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/RobothorSofaAlrid_convex/RobothorSofaAlrid_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/RobothorSofaAlrid_convex/RobothorSofaAlrid_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/RobothorSofaAlrid_convex/RobothorSofaAlrid_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/RobothorSofaAlrid_convex/RobothorSofaAlrid_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/RobothorSofaAlrid_convex/RobothorSofaAlrid_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/RobothorSofaAlrid_convex/RobothorSofaAlrid_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/RobothorSofaAlrid_convex/RobothorSofaAlrid_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/RobothorSofaAlrid_convex/RobothorSofaAlrid_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/RobothorSofaAlrid_convex/RobothorSofaAlrid_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_0_joint" type="fixed">
    <origin xyz="8.887232090161339 -6.144 1.0524567365646362" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_0"/>
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  <link name="Door_0">
    <visual name="Door_0_DoorwayDouble_4_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_159/meshes/stl/DoorwayDouble_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_3.obj"/>
      </geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_9.obj"/>
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  <joint name="Door_1_joint" type="fixed">
    <origin xyz="10.241 -2.5731444688599296 1.0479662418365479" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_1"/>
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  <link name="Door_1">
    <visual name="Door_1_DoorwayDouble_5_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_159/meshes/stl/DoorwayDouble_5.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_9.obj"/>
      </geometry>
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  <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"/>
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  <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_159/meshes/stl/Wall_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/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_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_159/meshes/stl/Wall_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Wall_1_convex/Wall_1_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_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_159/meshes/stl/Wall_2_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_2_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_159/meshes/stl/Wall_2_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_2_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_159/meshes/stl/Wall_2_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Wall_2_0_convex/Wall_2_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Wall_2_1_convex/Wall_2_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Wall_2_2_convex/Wall_2_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_159/meshes/stl/Wall_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/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_159/meshes/stl/Wall_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/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_159/meshes/stl/Wall_5.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/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_159/meshes/stl/Wall_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/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_159/meshes/stl/Wall_7.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/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_159/meshes/stl/Wall_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Wall_8_convex/Wall_8_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_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_159/meshes/stl/Wall_11_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_11_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_159/meshes/stl/Wall_11_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_11_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_159/meshes/stl/Wall_11_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Wall_11_0_convex/Wall_11_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Wall_11_1_convex/Wall_11_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Wall_11_2_convex/Wall_11_2_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_159/meshes/stl/Wall_12.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_159/meshes/obj/Wall_12_convex/Wall_12_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
</robot>
