<?xml version="1.0" ?>
<robot name="" version="1.0">
  <link name="house_procthor_10k_house"/>
  <joint name="Bedroom_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="Bedroom_2"/>
  </joint>
  <link name="Bedroom_2"/>
  <joint name="Bathroom_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="Bathroom_3"/>
  </joint>
  <link name="Bathroom_3"/>
  <joint name="Bed_2_0_joint" type="fixed">
    <origin xyz="8.04521241378784 -1.0551532745361327 0.6101350784301758" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Bed_2_0"/>
  </joint>
  <link name="Bed_2_0">
    <visual name="Bed_2_0_Bed_30_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Bed_30.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Bed_2_0_Bed_30_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Bed_30.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Dresser_2_1_joint" type="fixed">
    <origin xyz="9.108795981526374 -4.63698915397959 0.6145589351654053" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Dresser_2_1"/>
  </joint>
  <link name="Dresser_2_1">
    <visual name="Dresser_2_1_Dresser_301__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Dresser_301.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Dresser_2_1_Dresser_301__1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Dresser_301.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="DiningTable_2_2_0_joint" type="fixed">
    <origin xyz="6.345806828821763 -3.3549314684337523 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_26/meshes/stl/DiningTable_208.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="DiningTable_2_2_0_DiningTable_208__1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/DiningTable_208.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Box_2_3_joint" type="fixed">
    <origin xyz="3.959501831293106 -5.318536422014237 0.10582534223794937" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Box_2_3"/>
  </joint>
  <link name="Box_2_3">
    <visual name="Box_2_3_Box_14_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Box_14.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Box_2_3_Box_14_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Box_14.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="TVStand_2_4_0_joint" type="fixed">
    <origin xyz="5.362315458377397 -0.3267582893371582 0.37626194953918457" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="TVStand_2_4_0"/>
  </joint>
  <link name="TVStand_2_4_0">
    <visual name="TVStand_2_4_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_26/meshes/stl/TvStand_206.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="TVStand_2_4_0_TvStand_206__1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/TvStand_206.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Toilet_3_0_joint" type="fixed">
    <origin xyz="0.29485302567481997 -5.109795263767243 0.472759485244751" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Toilet_3_0"/>
  </joint>
  <link name="Toilet_3_0">
    <visual name="Toilet_3_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_26/meshes/stl/Toilet_2_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Toilet_3_0_Toilet_2_0_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Toilet_2_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Sink_3_1_0_joint" type="fixed">
    <origin xyz="0.38449599742889407 -0.38788666725158694 0.5229595303535461" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Sink_3_1_0"/>
  </joint>
  <link name="Sink_3_1_0">
    <visual name="Sink_3_1_0_Sink_19_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Sink_19.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Sink_3_1_0_Sink_19_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Sink_19.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="GarbageCan_3_2_joint" type="fixed">
    <origin xyz="1.2060756290090717 -0.20550497770309448 0.2500019967556" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="GarbageCan_3_2"/>
  </joint>
  <link name="GarbageCan_3_2">
    <visual name="GarbageCan_3_2_Bin_5_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Bin_5.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="GarbageCan_3_2_Bin_5_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Bin_5.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Plunger_3_3_joint" type="fixed">
    <origin xyz="3.6118514940738677 -5.466996780395508 0.2696691155433655" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Plunger_3_3"/>
  </joint>
  <link name="Plunger_3_3">
    <visual name="Plunger_3_3_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_26/meshes/stl/Plunger.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Plunger_3_3_Plunger_3_0_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Plunger.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_0_joint" type="fixed">
    <origin xyz="3.711 -1.7692194619848352 1.0651136636734009" 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_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/DoorwayDouble_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Door_0_DoorwayDouble_1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/DoorwayDouble_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_1_joint" type="fixed">
    <origin xyz="6.233866890247083 -5.566 1.0462727337144315" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_1"/>
  </joint>
  <link name="Door_1">
    <visual name="Door_1_DoorwayDouble_7_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/DoorwayDouble_7.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Door_1_DoorwayDouble_7_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/DoorwayDouble_7.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_0_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_0"/>
  </joint>
  <link name="Wall_0">
    <visual name="Wall_0_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_0_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_0_0_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_0_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <visual name="Wall_0_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_0_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_0_1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_0_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <visual name="Wall_0_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_0_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_0_2_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_0_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_1_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_1"/>
  </joint>
  <link name="Wall_1">
    <visual name="Wall_1_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_1_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_1_0_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_1_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <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_26/meshes/stl/Wall_1_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_1_1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_1_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <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_26/meshes/stl/Wall_1_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_1_2_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_1_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_2_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_2"/>
  </joint>
  <link name="Wall_2">
    <visual name="Wall_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_2_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_3_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_3"/>
  </joint>
  <link name="Wall_3">
    <visual name="Wall_3_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_3_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_4_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_4"/>
  </joint>
  <link name="Wall_4">
    <visual name="Wall_4_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_4_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_5_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_5"/>
  </joint>
  <link name="Wall_5">
    <visual name="Wall_5_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_5.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_5_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_5.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_7_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_7"/>
  </joint>
  <link name="Wall_7">
    <visual name="Wall_7_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_7.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_7_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_26/meshes/stl/Wall_7.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
</robot>