<?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="Kitchen_6_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_6"/>
  </joint>
  <link name="Kitchen_6"/>
  <joint name="LivingRoom_7_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_7"/>
  </joint>
  <link name="LivingRoom_7"/>
  <joint name="GarbageBag_6_0_joint" type="fixed">
    <origin xyz="4.015606559427921 -3.0490899770017195 0.2789691686630249" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="GarbageBag_6_0"/>
  </joint>
  <link name="GarbageBag_6_0"/>
  <joint name="CounterTop_6_1_joint" type="fixed">
    <origin xyz="5.020399932861329 -0.48532658219337466 0.47099846601486206" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="CounterTop_6_1"/>
  </joint>
  <link name="CounterTop_6_1">
    <visual name="CounterTop_6_1_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_41/meshes/stl/CountertopIsland_4_X_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="CounterTop_6_1_CountertopIsland_4_X_3_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/CountertopIsland_4_X_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Fridge_6_2_joint" type="fixed">
    <origin xyz="3.8787600037254544 -0.4081499814987183 0.763818621635437" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Fridge_6_2"/>
  </joint>
  <link name="Fridge_6_2">
    <visual name="Fridge_6_2_Fridge_14_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/FridgeC_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Fridge_6_2_Fridge_14_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/FridgeC_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="GarbageCan_6_3_joint" type="fixed">
    <origin xyz="2.8772370762187904 -0.26514273285865786 0.32935965061187744" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="GarbageCan_6_3"/>
  </joint>
  <link name="GarbageCan_6_3">
    <visual name="GarbageCan_6_3_Bin_30_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Bin_30.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="GarbageCan_6_3_Bin_30_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Bin_30.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Stool_6_4_joint" type="fixed">
    <origin xyz="2.9769008731398614 -3.560902441740036 0.29273661971092224" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Stool_6_4"/>
  </joint>
  <link name="Stool_6_4">
    <visual name="Stool_6_4_Stool_3__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Stool_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Stool_6_4_Stool_3__1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Stool_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="DiningTable_7_0_joint" type="fixed">
    <origin xyz="6.9133040452003485 -3.3613929104804994 0.37084776163101196" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="DiningTable_7_0"/>
  </joint>
  <link name="DiningTable_7_0">
    <visual name="DiningTable_7_0_RobothorDiningTableJokkmokkV_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/RobothorDiningTableJokkmokk.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="DiningTable_7_0_RobothorDiningTableJokkmokkV_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/RobothorDiningTableJokkmokk.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Sofa_7_1_joint" type="fixed">
    <origin xyz="7.11090893983841 -1.0668429374694823 0.3049042224884033" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Sofa_7_1"/>
  </joint>
  <link name="Sofa_7_1">
    <visual name="Sofa_7_1_Sofa_227__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Sofa_227.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Sofa_7_1_Sofa_227__1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Sofa_227.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="GarbageCan_7_2_joint" type="fixed">
    <origin xyz="5.908999018669128 -0.2892253041267395 0.32977062463760376" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="GarbageCan_7_2"/>
  </joint>
  <link name="GarbageCan_7_2">
    <visual name="GarbageCan_7_2_Bin_20_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Bin_20.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="GarbageCan_7_2_Bin_20_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Bin_20.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="FloorLamp_7_3_joint" type="fixed">
    <origin xyz="7.4001988613605505 -2.250616003776482 0.5932310819625854" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="FloorLamp_7_3"/>
  </joint>
  <link name="FloorLamp_7_3">
    <visual name="FloorLamp_7_3_RobothorFloorLampHolmoV_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/RobothorFloorLampHolmo.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="FloorLamp_7_3_RobothorFloorLampHolmoV_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/RobothorFloorLampHolmo.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Bed_2_0_joint" type="fixed">
    <origin xyz="1.2553123092651366 -6.328215851783753 0.3558158576488495" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Bed_2_0"/>
  </joint>
  <link name="Bed_2_0">
    <visual name="Bed_2_0_Bed_26__2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Bed_26__2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Bed_2_0_Bed_26__2_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Bed_26__2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="SideTable_2_2_joint" type="fixed">
    <origin xyz="0.1999880164861679 -2.079974401593208 0.3019571304321289" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="SideTable_2_2"/>
  </joint>
  <link name="SideTable_2_2">
    <visual name="SideTable_2_2_SideTable_223__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/SideTable_223.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="SideTable_2_2_SideTable_223__1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/SideTable_223.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Television_6_5_joint" type="fixed">
    <origin xyz="2.7300943508244497 -0.038650357276201246 1.6956899499525315" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Television_6_5"/>
  </joint>
  <link name="Television_6_5">
    <visual name="Television_6_5_Television_25_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Television_25.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Television_6_5_Television_25_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Television_25.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Television_7_4_joint" type="fixed">
    <origin xyz="6.352551861074557 -3.7265464732050897 1.607927067212094" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Television_7_4"/>
  </joint>
  <link name="Television_7_4">
    <visual name="Television_7_4_Television_3_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Television_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Television_7_4_Television_3_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Television_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_0_joint" type="fixed">
    <origin xyz="5.655 -2.5581444318161473 1.037670373916626" 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_9_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/DoorwayDouble_9.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Door_0_DoorwayDouble_9_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/DoorwayDouble_9.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_1_joint" type="fixed">
    <origin xyz="1.885 -2.9925826811775798 1.0517940521240234" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_1"/>
  </joint>
  <link name="Door_1">
    <visual name="Door_1_Doorway_4_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Doorway_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Door_1_Doorway_4_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Doorway_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_2_joint" type="fixed">
    <origin xyz="1.885 -1.1337123265729196 1.0534253120422363" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_2"/>
  </joint>
  <link name="Door_2">
    <visual name="Door_2_Doorway_6_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Doorway_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Door_2_Doorway_6_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Doorway_6.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_41/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_41/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_41/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_41/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_41/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_41/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_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Wall_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Wall_1.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_41/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_41/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_41/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_41/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_41/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_41/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_41/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_41/meshes/stl/Wall_5.stl" scale="1.0 1.0 1.0"/>
      </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_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Wall_6_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_6_0_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Wall_6_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <visual name="Wall_6_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Wall_6_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_6_1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Wall_6_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <visual name="Wall_6_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Wall_6_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_6_2_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Wall_6_2.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_41/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_41/meshes/stl/Wall_7.stl" scale="1.0 1.0 1.0"/>
      </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_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Wall_8_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_8_0_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Wall_8_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <visual name="Wall_8_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Wall_8_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_8_1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Wall_8_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <visual name="Wall_8_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Wall_8_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_8_2_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Wall_8_2.stl" scale="1.0 1.0 1.0"/>
      </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_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Wall_11.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_11_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Wall_11.stl" scale="1.0 1.0 1.0"/>
      </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_41/meshes/stl/Wall_12.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_12_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Wall_12.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_13_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_13"/>
  </joint>
  <link name="Wall_13">
    <visual name="Wall_13_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Wall_13.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_13_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_41/meshes/stl/Wall_13.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
</robot>