<?xml version='1.0' encoding='UTF-8'?>
<robot name="" version="1.0">
  <link name="house_procthor_10k_house"/>
  <joint name="Bathroom_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="Bathroom_2"/>
  </joint>
  <link name="Bathroom_2"/>
  <joint name="Toilet_2_0_joint" type="fixed">
    <origin xyz="0.29485302567481997 -6.047795263767242 0.472759485244751" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Toilet_2_0"/>
  </joint>
  <link name="Toilet_2_0">
    <visual name="Toilet_2_0_Toilet_2_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_24/meshes/stl/Toilet_2_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Sink_2_1_0_joint" type="fixed">
    <origin xyz="1.811173421630908 -0.30300202369689944 0.48804259300231934" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Sink_2_1_0"/>
  </joint>
  <link name="Sink_2_1_0">
    <visual name="Sink_2_1_0_Sink_20_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_24/meshes/stl/Sink_20.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Sink_20_convex/Sink_20_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Sink_20_convex/Sink_20_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Sink_20_convex/Sink_20_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Sink_20_convex/Sink_20_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Sink_20_convex/Sink_20_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Sink_20_convex/Sink_20_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Sink_20_convex/Sink_20_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Sink_20_convex/Sink_20_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Sink_20_convex/Sink_20_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Sink_20_convex/Sink_20_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Sink_20_convex/Sink_20_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Sink_20_convex/Sink_20_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Sink_20_convex/Sink_20_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Sink_20_convex/Sink_20_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Sink_20_convex/Sink_20_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Sink_20_convex/Sink_20_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Plunger_2_2_joint" type="fixed">
    <origin xyz="0.8680845721301225 -6.404996780395507 0.2696691155433655" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Plunger_2_2"/>
  </joint>
  <link name="Plunger_2_2">
    <visual name="Plunger_2_2_Plunger_3_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_24/meshes/stl/Plunger.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Plunger_convex/Plunger_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Plunger_convex/Plunger_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Plunger_convex/Plunger_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Plunger_convex/Plunger_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Plunger_convex/Plunger_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Plunger_convex/Plunger_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Plunger_convex/Plunger_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Plunger_convex/Plunger_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Plunger_convex/Plunger_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Plunger_convex/Plunger_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Plunger_convex/Plunger_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Plunger_convex/Plunger_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Plunger_convex/Plunger_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Plunger_convex/Plunger_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Plunger_convex/Plunger_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Plunger_convex/Plunger_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="GarbageCan_2_3_joint" type="fixed">
    <origin xyz="0.2280927687883377 -2.743782894045358 0.32781553268432617" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="GarbageCan_2_3"/>
  </joint>
  <link name="GarbageCan_2_3">
    <visual name="GarbageCan_2_3_Bin_21_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_24/meshes/stl/Bin_21.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Bin_21_convex/Bin_21_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Bin_21_convex/Bin_21_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Bin_21_convex/Bin_21_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Bin_21_convex/Bin_21_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Bin_21_convex/Bin_21_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Bin_21_convex/Bin_21_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Bin_21_convex/Bin_21_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Bin_21_convex/Bin_21_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Bin_21_convex/Bin_21_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Bin_21_convex/Bin_21_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Bin_21_convex/Bin_21_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Bin_21_convex/Bin_21_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Bin_21_convex/Bin_21_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Bin_21_convex/Bin_21_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Bin_21_convex/Bin_21_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Bin_21_convex/Bin_21_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_0_joint" type="fixed">
    <origin xyz="4.336 -1.5262235502685484 1.0364102125167847" 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_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_24/meshes/stl/DoorwayDouble_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/DoorwayDouble_2_convex/DoorwayDouble_2_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/DoorwayDouble_2_convex/DoorwayDouble_2_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/DoorwayDouble_2_convex/DoorwayDouble_2_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/DoorwayDouble_2_convex/DoorwayDouble_2_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/DoorwayDouble_2_convex/DoorwayDouble_2_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/DoorwayDouble_2_convex/DoorwayDouble_2_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/DoorwayDouble_2_convex/DoorwayDouble_2_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/DoorwayDouble_2_convex/DoorwayDouble_2_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/DoorwayDouble_2_convex/DoorwayDouble_2_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/DoorwayDouble_2_convex/DoorwayDouble_2_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/DoorwayDouble_2_convex/DoorwayDouble_2_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/DoorwayDouble_2_convex/DoorwayDouble_2_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/DoorwayDouble_2_convex/DoorwayDouble_2_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_24/meshes/stl/Wall_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/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_24/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_24/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_24/meshes/stl/Wall_1_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Wall_1_0_convex/Wall_1_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Wall_1_1_convex/Wall_1_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/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_24/meshes/stl/Wall_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/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_24/meshes/stl/Wall_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_24/meshes/obj/Wall_3_convex/Wall_3_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
</robot>
