<?xml version='1.0' encoding='UTF-8'?>
<robot name="" version="1.0">
  <link name="house_procthor_10k_house"/>
  <joint name="Bedroom_4_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_4"/>
  </joint>
  <link name="Bedroom_4"/>
  <joint name="Bathroom_5_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_5"/>
  </joint>
  <link name="Bathroom_5"/>
  <joint name="Bedroom_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="Bedroom_6"/>
  </joint>
  <link name="Bedroom_6"/>
  <joint name="Kitchen_8_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_8"/>
  </joint>
  <link name="Kitchen_8"/>
  <joint name="LivingRoom_9_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_9"/>
  </joint>
  <link name="LivingRoom_9"/>
  <joint name="Bed_4_0_0_joint" type="fixed">
    <origin xyz="9.769605311393738 -3.407763816833496 0.6772911548614502" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Bed_4_0_0"/>
  </joint>
  <link name="Bed_4_0_0">
    <visual name="Bed_4_0_0_Bed_9_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Bed_9.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Bed_9_convex/Bed_9_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Bed_9_convex/Bed_9_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Bed_9_convex/Bed_9_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Bed_9_convex/Bed_9_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Bed_9_convex/Bed_9_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Bed_9_convex/Bed_9_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Bed_9_convex/Bed_9_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Bed_9_convex/Bed_9_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Bed_9_convex/Bed_9_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Bed_9_convex/Bed_9_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Bed_9_convex/Bed_9_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Bed_9_convex/Bed_9_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Bed_9_convex/Bed_9_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Bed_9_convex/Bed_9_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Bed_9_convex/Bed_9_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Bed_9_convex/Bed_9_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Dresser_4_1_joint" type="fixed">
    <origin xyz="12.883863593578338 -8.373000010490417 0.3496258854866028" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Dresser_4_1"/>
  </joint>
  <link name="Dresser_4_1">
    <visual name="Dresser_4_1_RobothorDresserRastV_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/RobothorDresserRast.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/RobothorDresserRast_convex/RobothorDresserRast_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/RobothorDresserRast_convex/RobothorDresserRast_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/RobothorDresserRast_convex/RobothorDresserRast_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/RobothorDresserRast_convex/RobothorDresserRast_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/RobothorDresserRast_convex/RobothorDresserRast_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/RobothorDresserRast_convex/RobothorDresserRast_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/RobothorDresserRast_convex/RobothorDresserRast_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/RobothorDresserRast_convex/RobothorDresserRast_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/RobothorDresserRast_convex/RobothorDresserRast_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/RobothorDresserRast_convex/RobothorDresserRast_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/RobothorDresserRast_convex/RobothorDresserRast_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/RobothorDresserRast_convex/RobothorDresserRast_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/RobothorDresserRast_convex/RobothorDresserRast_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/RobothorDresserRast_convex/RobothorDresserRast_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/RobothorDresserRast_convex/RobothorDresserRast_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/RobothorDresserRast_convex/RobothorDresserRast_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="FloorLamp_4_2_1_joint" type="fixed">
    <origin xyz="12.671864385843277 -6.935540899885116 0.9296010136604309" rpy="0.0 0.0 -1.402512788772583"/>
    <parent link="house_procthor_10k_house"/>
    <child link="FloorLamp_4_2_1"/>
  </joint>
  <link name="FloorLamp_4_2_1">
    <visual name="FloorLamp_4_2_1_FloorLamp_6_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/FloorLamp_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/FloorLamp_6_convex/FloorLamp_6_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/FloorLamp_6_convex/FloorLamp_6_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/FloorLamp_6_convex/FloorLamp_6_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/FloorLamp_6_convex/FloorLamp_6_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/FloorLamp_6_convex/FloorLamp_6_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/FloorLamp_6_convex/FloorLamp_6_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/FloorLamp_6_convex/FloorLamp_6_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/FloorLamp_6_convex/FloorLamp_6_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/FloorLamp_6_convex/FloorLamp_6_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/FloorLamp_6_convex/FloorLamp_6_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/FloorLamp_6_convex/FloorLamp_6_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/FloorLamp_6_convex/FloorLamp_6_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/FloorLamp_6_convex/FloorLamp_6_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/FloorLamp_6_convex/FloorLamp_6_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/FloorLamp_6_convex/FloorLamp_6_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/FloorLamp_6_convex/FloorLamp_6_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="SideTable_4_3_joint" type="fixed">
    <origin xyz="8.907522129654884 -5.581251615496298 0.23798584938049316" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="SideTable_4_3"/>
  </joint>
  <link name="SideTable_4_3">
    <visual name="SideTable_4_3_SideTable_209__1__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/SideTable_209__1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_209__1_convex/SideTable_209__1_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_209__1_convex/SideTable_209__1_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_209__1_convex/SideTable_209__1_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_209__1_convex/SideTable_209__1_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_209__1_convex/SideTable_209__1_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_209__1_convex/SideTable_209__1_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_209__1_convex/SideTable_209__1_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_209__1_convex/SideTable_209__1_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_209__1_convex/SideTable_209__1_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_209__1_convex/SideTable_209__1_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_209__1_convex/SideTable_209__1_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_209__1_convex/SideTable_209__1_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_209__1_convex/SideTable_209__1_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_209__1_convex/SideTable_209__1_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_209__1_convex/SideTable_209__1_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_209__1_convex/SideTable_209__1_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="SideTable_4_4_joint" type="fixed">
    <origin xyz="10.685356353825364 -8.501166119813918 0.33430764079093933" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="SideTable_4_4"/>
  </joint>
  <link name="SideTable_4_4">
    <visual name="SideTable_4_4_SideTable_302__1__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/SideTable_302__1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_13.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_14.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_15.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_2.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_3.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_4.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_5.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_6.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_7.obj"/>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/SideTable_302__1_convex/SideTable_302__1_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Toilet_5_0_joint" type="fixed">
    <origin xyz="12.607795263767242 -10.591146974325179 0.472759485244751" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Toilet_5_0"/>
  </joint>
  <link name="Toilet_5_0">
    <visual name="Toilet_5_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_46/meshes/stl/Toilet_2_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_10.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_11.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_12.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_13.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_14.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_15.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_2.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_3.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_4.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_5.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Toilet_2_0_convex/Toilet_2_0_convex_6.obj"/>
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      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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    <child link="SideTable_5_3"/>
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      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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    <child link="FloorLamp_6_3_1"/>
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      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/FloorLamp_11.stl" scale="1.0 1.0 1.0"/>
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        <mesh filename="dataset_house_46/meshes/obj/FloorLamp_11_convex/FloorLamp_11_convex_0.obj"/>
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      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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    <child link="Fridge_8_1"/>
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      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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        <mesh filename="file://dataset_house_46/meshes/stl/FridgeB_6.stl" scale="1.0 1.0 1.0"/>
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      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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        <mesh filename="file://dataset_house_46/meshes/stl/DiningTable_221.stl" scale="1.0 1.0 1.0"/>
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      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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    <parent link="house_procthor_10k_house"/>
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      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Box_20_convex/Box_20_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Box_20_convex/Box_20_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Box_20_convex/Box_20_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Box_20_convex/Box_20_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Box_20_convex/Box_20_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Box_20_convex/Box_20_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Box_20_convex/Box_20_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Television_4_5_joint" type="fixed">
    <origin xyz="10.245824035516565 -8.619625199675559 1.8267584156276633" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Television_4_5"/>
  </joint>
  <link name="Television_4_5">
    <visual name="Television_4_5_Television_14_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Television_14.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Television_14_convex/Television_14_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Television_14_convex/Television_14_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Television_14_convex/Television_14_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Television_14_convex/Television_14_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Television_14_convex/Television_14_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Television_14_convex/Television_14_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Television_14_convex/Television_14_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Television_14_convex/Television_14_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Television_14_convex/Television_14_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Television_14_convex/Television_14_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Television_14_convex/Television_14_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Television_14_convex/Television_14_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Television_14_convex/Television_14_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Television_14_convex/Television_14_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Television_14_convex/Television_14_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Television_14_convex/Television_14_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_0_joint" type="fixed">
    <origin xyz="10.014026478748848 -8.709 1.0534253120422363" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_0"/>
  </joint>
  <link name="Door_0">
    <visual name="Door_0_Doorway_6_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Doorway_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_1_joint" type="fixed">
    <origin xyz="6.8098700965746435 -6.532 1.049698829650879" 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_8_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/DoorwayDouble_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_2_joint" type="fixed">
    <origin xyz="4.355 -10.050240686372904 1.05002281954512" 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_10_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Doorway_10.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_10_convex/Doorway_10_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_10_convex/Doorway_10_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_10_convex/Doorway_10_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_10_convex/Doorway_10_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_10_convex/Doorway_10_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_10_convex/Doorway_10_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_10_convex/Doorway_10_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_10_convex/Doorway_10_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_10_convex/Doorway_10_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_10_convex/Doorway_10_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_10_convex/Doorway_10_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_10_convex/Doorway_10_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_10_convex/Doorway_10_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_10_convex/Doorway_10_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_10_convex/Doorway_10_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_10_convex/Doorway_10_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_3_joint" type="fixed">
    <origin xyz="8.709 -7.6254508245907076 1.049698829650879" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_3"/>
  </joint>
  <link name="Door_3">
    <visual name="Door_3_DoorwayDouble_8_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/DoorwayDouble_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/DoorwayDouble_8_convex/DoorwayDouble_8_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_4_joint" type="fixed">
    <origin xyz="8.116938746311291 -10.886 1.0534253120422363" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_4"/>
  </joint>
  <link name="Door_4">
    <visual name="Door_4_Doorway_6_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Doorway_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Doorway_6_convex/Doorway_6_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_46/meshes/stl/Wall_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/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_46/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_46/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_46/meshes/stl/Wall_1_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_1_0_convex/Wall_1_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_1_1_convex/Wall_1_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/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_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_2_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_2_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_2_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_2_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_2_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_2_0_convex/Wall_2_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_2_1_convex/Wall_2_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_2_2_convex/Wall_2_2_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_3_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_3"/>
  </joint>
  <link name="Wall_3">
    <visual name="Wall_3_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_3_convex/Wall_3_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_4_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_4"/>
  </joint>
  <link name="Wall_4">
    <visual name="Wall_4_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_4_convex/Wall_4_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_5_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_5"/>
  </joint>
  <link name="Wall_5">
    <visual name="Wall_5_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_5.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_5_convex/Wall_5_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_6_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_6"/>
  </joint>
  <link name="Wall_6">
    <visual name="Wall_6_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_6_convex/Wall_6_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_7_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_7"/>
  </joint>
  <link name="Wall_7">
    <visual name="Wall_7_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_7.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/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_46/meshes/stl/Wall_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/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_46/meshes/stl/Wall_9.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_9_convex/Wall_9_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_11_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_11"/>
  </joint>
  <link name="Wall_11">
    <visual name="Wall_11_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_11.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_11_convex/Wall_11_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_12_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_12"/>
  </joint>
  <link name="Wall_12">
    <visual name="Wall_12_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_12.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_12_convex/Wall_12_convex_convex.obj"/>
      </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_46/meshes/stl/Wall_13.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_13_convex/Wall_13_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_14_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_14"/>
  </joint>
  <link name="Wall_14">
    <visual name="Wall_14_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_14.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_14_convex/Wall_14_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_15_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_15"/>
  </joint>
  <link name="Wall_15">
    <visual name="Wall_15_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_15_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_15_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_15_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_15_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_15_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_15_0_convex/Wall_15_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_15_1_convex/Wall_15_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_15_2_convex/Wall_15_2_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_16_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_16"/>
  </joint>
  <link name="Wall_16">
    <visual name="Wall_16_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_16.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_16_convex/Wall_16_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_17_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_17"/>
  </joint>
  <link name="Wall_17">
    <visual name="Wall_17_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_17.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_17_convex/Wall_17_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_19_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_19"/>
  </joint>
  <link name="Wall_19">
    <visual name="Wall_19_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_19_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_19_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_19_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_19_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_19_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_19_0_convex/Wall_19_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_19_1_convex/Wall_19_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_19_2_convex/Wall_19_2_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_22_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_22"/>
  </joint>
  <link name="Wall_22">
    <visual name="Wall_22_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_22_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_22_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_22_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_22_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_22_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_22_0_convex/Wall_22_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_22_1_convex/Wall_22_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_22_2_convex/Wall_22_2_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_26_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_26"/>
  </joint>
  <link name="Wall_26">
    <visual name="Wall_26_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_26.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_26_convex/Wall_26_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_27_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_27"/>
  </joint>
  <link name="Wall_27">
    <visual name="Wall_27_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_27.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_27_convex/Wall_27_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_28_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_28"/>
  </joint>
  <link name="Wall_28">
    <visual name="Wall_28_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_46/meshes/stl/Wall_28.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_46/meshes/obj/Wall_28_convex/Wall_28_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
</robot>
