<?xml version='1.0' encoding='UTF-8'?>
<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_0_joint" type="fixed">
    <origin xyz="1.144643449783325 -0.8554251432418821 0.41503027081489563" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Bed_2_0_0"/>
  </joint>
  <link name="Bed_2_0_0">
    <visual name="Bed_2_0_0_Bed_19_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_44/meshes/stl/Bed_19.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bed_19_convex/Bed_19_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bed_19_convex/Bed_19_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bed_19_convex/Bed_19_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bed_19_convex/Bed_19_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bed_19_convex/Bed_19_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bed_19_convex/Bed_19_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bed_19_convex/Bed_19_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bed_19_convex/Bed_19_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bed_19_convex/Bed_19_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bed_19_convex/Bed_19_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bed_19_convex/Bed_19_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bed_19_convex/Bed_19_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bed_19_convex/Bed_19_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bed_19_convex/Bed_19_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bed_19_convex/Bed_19_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bed_19_convex/Bed_19_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Dresser_2_1_joint" type="fixed">
    <origin xyz="0.37433614730834963 -3.834978020702737 0.3349643349647522" 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_318__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_44/meshes/stl/Dresser_318.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Dresser_318_convex/Dresser_318_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Dresser_318_convex/Dresser_318_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Dresser_318_convex/Dresser_318_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Dresser_318_convex/Dresser_318_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Dresser_318_convex/Dresser_318_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Dresser_318_convex/Dresser_318_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Dresser_318_convex/Dresser_318_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Dresser_318_convex/Dresser_318_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Dresser_318_convex/Dresser_318_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Dresser_318_convex/Dresser_318_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Dresser_318_convex/Dresser_318_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Dresser_318_convex/Dresser_318_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Dresser_318_convex/Dresser_318_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Dresser_318_convex/Dresser_318_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Dresser_318_convex/Dresser_318_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Dresser_318_convex/Dresser_318_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="DiningTable_2_2_0_joint" type="fixed">
    <origin xyz="4.005809470242621 -1.9578692951041083 0.3790948987007141" rpy="0.0 0.0 -1.5707963705062866"/>
    <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_27__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_44/meshes/stl/RobothorDiningTableAntas.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/RobothorDiningTableAntas_convex/RobothorDiningTableAntas_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/RobothorDiningTableAntas_convex/RobothorDiningTableAntas_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/RobothorDiningTableAntas_convex/RobothorDiningTableAntas_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/RobothorDiningTableAntas_convex/RobothorDiningTableAntas_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/RobothorDiningTableAntas_convex/RobothorDiningTableAntas_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/RobothorDiningTableAntas_convex/RobothorDiningTableAntas_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/RobothorDiningTableAntas_convex/RobothorDiningTableAntas_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/RobothorDiningTableAntas_convex/RobothorDiningTableAntas_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/RobothorDiningTableAntas_convex/RobothorDiningTableAntas_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/RobothorDiningTableAntas_convex/RobothorDiningTableAntas_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/RobothorDiningTableAntas_convex/RobothorDiningTableAntas_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/RobothorDiningTableAntas_convex/RobothorDiningTableAntas_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/RobothorDiningTableAntas_convex/RobothorDiningTableAntas_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/RobothorDiningTableAntas_convex/RobothorDiningTableAntas_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/RobothorDiningTableAntas_convex/RobothorDiningTableAntas_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/RobothorDiningTableAntas_convex/RobothorDiningTableAntas_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Toilet_3_0_joint" type="fixed">
    <origin xyz="9.153566374778746 -0.2897420465946198 0.5189565420150757" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Toilet_3_0"/>
  </joint>
  <link name="Toilet_3_0">
    <visual name="Toilet_3_0_Toilet_1_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_44/meshes/stl/Toilet_1_Done_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Sink_3_1_0_joint" type="fixed">
    <origin xyz="9.280504002571105 -3.4781133327484133 0.5229595303535461" rpy="0.0 0.0 3.1415927410125732"/>
    <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_44/meshes/stl/Sink_19.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Sink_19_convex/Sink_19_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Sink_19_convex/Sink_19_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Sink_19_convex/Sink_19_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Sink_19_convex/Sink_19_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Sink_19_convex/Sink_19_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Sink_19_convex/Sink_19_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Sink_19_convex/Sink_19_convex_14.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Sink_19_convex/Sink_19_convex_15.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Sink_19_convex/Sink_19_convex_2.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Sink_19_convex/Sink_19_convex_3.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Sink_19_convex/Sink_19_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Sink_19_convex/Sink_19_convex_5.obj"/>
      </geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Sink_19_convex/Sink_19_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Sink_19_convex/Sink_19_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Sink_19_convex/Sink_19_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Sink_19_convex/Sink_19_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="GarbageCan_3_2_joint" type="fixed">
    <origin xyz="6.009222089290619 -0.971208877432364 0.2890393137931824" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="GarbageCan_3_2"/>
  </joint>
  <link name="GarbageCan_3_2">
    <visual name="GarbageCan_3_2_Bin_13_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_44/meshes/stl/Bin_13.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bin_13_convex/Bin_13_convex_0.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bin_13_convex/Bin_13_convex_1.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bin_13_convex/Bin_13_convex_10.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bin_13_convex/Bin_13_convex_11.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bin_13_convex/Bin_13_convex_12.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bin_13_convex/Bin_13_convex_13.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bin_13_convex/Bin_13_convex_14.obj"/>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bin_13_convex/Bin_13_convex_2.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bin_13_convex/Bin_13_convex_3.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bin_13_convex/Bin_13_convex_4.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bin_13_convex/Bin_13_convex_5.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bin_13_convex/Bin_13_convex_6.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bin_13_convex/Bin_13_convex_7.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bin_13_convex/Bin_13_convex_8.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Bin_13_convex/Bin_13_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Plunger_3_3_joint" type="fixed">
    <origin xyz="5.898003219604492 -1.292679598993709 0.2696691155433655" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Plunger_3_3"/>
  </joint>
  <link name="Plunger_3_3">
    <visual name="Plunger_3_3_Plunger_1_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_44/meshes/stl/Plunger.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Plunger_convex/Plunger_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Plunger_convex/Plunger_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Plunger_convex/Plunger_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Plunger_convex/Plunger_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Plunger_convex/Plunger_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Plunger_convex/Plunger_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Plunger_convex/Plunger_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Plunger_convex/Plunger_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Plunger_convex/Plunger_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Plunger_convex/Plunger_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Plunger_convex/Plunger_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Plunger_convex/Plunger_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Plunger_convex/Plunger_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Plunger_convex/Plunger_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Plunger_convex/Plunger_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Plunger_convex/Plunger_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="SideTable_3_4_joint" type="fixed">
    <origin xyz="6.006833880186081 -1.7997328469559104 0.3343079090118408" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="SideTable_3_4"/>
  </joint>
  <link name="SideTable_3_4">
    <visual name="SideTable_3_4_SideTable_302__1__5_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_44/meshes/stl/SideTable_302__1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_0_joint" type="fixed">
    <origin xyz="5.799 -0.8033522502157959 1.0496987104415894" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_0"/>
  </joint>
  <link name="Door_0">
    <visual name="Door_0_Doorway_8_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_44/meshes/stl/Doorway_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Doorway_8_convex/Doorway_8_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Doorway_8_convex/Doorway_8_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Doorway_8_convex/Doorway_8_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Doorway_8_convex/Doorway_8_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Doorway_8_convex/Doorway_8_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Doorway_8_convex/Doorway_8_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Doorway_8_convex/Doorway_8_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Doorway_8_convex/Doorway_8_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Doorway_8_convex/Doorway_8_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Doorway_8_convex/Doorway_8_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Doorway_8_convex/Doorway_8_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Doorway_8_convex/Doorway_8_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Doorway_8_convex/Doorway_8_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Doorway_8_convex/Doorway_8_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Doorway_8_convex/Doorway_8_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Doorway_8_convex/Doorway_8_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_1_joint" type="fixed">
    <origin xyz="1.9781808878639668 -5.799 1.0524564981460571" 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_4_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_44/meshes/stl/DoorwayDouble_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_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_44/meshes/stl/Wall_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/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_44/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_44/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_44/meshes/stl/Wall_1_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Wall_1_0_convex/Wall_1_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Wall_1_1_convex/Wall_1_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/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_44/meshes/stl/Wall_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/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_44/meshes/stl/Wall_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/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_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_44/meshes/stl/Wall_4_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_4_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_44/meshes/stl/Wall_4_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_4_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_44/meshes/stl/Wall_4_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Wall_4_0_convex/Wall_4_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Wall_4_1_convex/Wall_4_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Wall_4_2_convex/Wall_4_2_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_44/meshes/stl/Wall_5.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Wall_5_convex/Wall_5_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_44/meshes/stl/Wall_7.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/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_44/meshes/stl/Wall_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Wall_8_convex/Wall_8_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_9_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_9"/>
  </joint>
  <link name="Wall_9">
    <visual name="Wall_9_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_44/meshes/stl/Wall_9.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_44/meshes/obj/Wall_9_convex/Wall_9_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
</robot>
