<?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="Kitchen_6_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Kitchen_6"/>
  </joint>
  <link name="Kitchen_6"/>
  <joint name="LivingRoom_7_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="LivingRoom_7"/>
  </joint>
  <link name="LivingRoom_7"/>
  <joint name="Bed_4_0_0_joint" type="fixed">
    <origin xyz="1.2402013778686523 -0.9191261172294615 0.447925329208374" rpy="0.0 0.0 1.5707963705062866"/>
    <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_8_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/Bed_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bed_8_convex/Bed_8_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bed_8_convex/Bed_8_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bed_8_convex/Bed_8_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bed_8_convex/Bed_8_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bed_8_convex/Bed_8_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bed_8_convex/Bed_8_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bed_8_convex/Bed_8_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bed_8_convex/Bed_8_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bed_8_convex/Bed_8_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bed_8_convex/Bed_8_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bed_8_convex/Bed_8_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bed_8_convex/Bed_8_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bed_8_convex/Bed_8_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bed_8_convex/Bed_8_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bed_8_convex/Bed_8_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bed_8_convex/Bed_8_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Dresser_4_1_joint" type="fixed">
    <origin xyz="0.3130816459655762 -3.356708097176437 0.5635389685630798" 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_RobothorDresserBirkeland_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/RobothorDresserBirkeland.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/RobothorDresserBirkeland_convex/RobothorDresserBirkeland_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/RobothorDresserBirkeland_convex/RobothorDresserBirkeland_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/RobothorDresserBirkeland_convex/RobothorDresserBirkeland_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/RobothorDresserBirkeland_convex/RobothorDresserBirkeland_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/RobothorDresserBirkeland_convex/RobothorDresserBirkeland_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/RobothorDresserBirkeland_convex/RobothorDresserBirkeland_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/RobothorDresserBirkeland_convex/RobothorDresserBirkeland_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/RobothorDresserBirkeland_convex/RobothorDresserBirkeland_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/RobothorDresserBirkeland_convex/RobothorDresserBirkeland_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/RobothorDresserBirkeland_convex/RobothorDresserBirkeland_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/RobothorDresserBirkeland_convex/RobothorDresserBirkeland_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/RobothorDresserBirkeland_convex/RobothorDresserBirkeland_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/RobothorDresserBirkeland_convex/RobothorDresserBirkeland_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/RobothorDresserBirkeland_convex/RobothorDresserBirkeland_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/RobothorDresserBirkeland_convex/RobothorDresserBirkeland_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/RobothorDresserBirkeland_convex/RobothorDresserBirkeland_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Desk_4_3_joint" type="fixed">
    <origin xyz="4.904844285726547 -3.3612702786312516 0.45052170753479004" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Desk_4_3"/>
  </joint>
  <link name="Desk_4_3">
    <visual name="Desk_4_3_Desk_323__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/Desk_323.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Desk_323_convex/Desk_323_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Desk_323_convex/Desk_323_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Desk_323_convex/Desk_323_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Desk_323_convex/Desk_323_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Desk_323_convex/Desk_323_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Desk_323_convex/Desk_323_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Desk_323_convex/Desk_323_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Desk_323_convex/Desk_323_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Desk_323_convex/Desk_323_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Desk_323_convex/Desk_323_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Desk_323_convex/Desk_323_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Toilet_5_0_joint" type="fixed">
    <origin xyz="0.2897420465946198 -8.168566374778747 0.5189565420150757" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Toilet_5_0"/>
  </joint>
  <link name="Toilet_5_0">
    <visual name="Toilet_5_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_56/meshes/stl/Toilet_1_Done_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Sink_5_1_0_joint" type="fixed">
    <origin xyz="4.821654112815857 -5.5110020236969 0.48804259300231934" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Sink_5_1_0"/>
  </joint>
  <link name="Sink_5_1_0">
    <visual name="Sink_5_1_0_Sink_20_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/Sink_20.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Sink_20_convex/Sink_20_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Sink_20_convex/Sink_20_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Sink_20_convex/Sink_20_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Sink_20_convex/Sink_20_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Sink_20_convex/Sink_20_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Sink_20_convex/Sink_20_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Sink_20_convex/Sink_20_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Sink_20_convex/Sink_20_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Sink_20_convex/Sink_20_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Sink_20_convex/Sink_20_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Sink_20_convex/Sink_20_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Sink_20_convex/Sink_20_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Sink_20_convex/Sink_20_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Sink_20_convex/Sink_20_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Sink_20_convex/Sink_20_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Sink_20_convex/Sink_20_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="GarbageCan_5_2_joint" type="fixed">
    <origin xyz="1.5101829216480254 -8.50483293712139 0.27942752838134766" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="GarbageCan_5_2"/>
  </joint>
  <link name="GarbageCan_5_2">
    <visual name="GarbageCan_5_2_Bin_7_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/Bin_7.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bin_7_convex/Bin_7_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bin_7_convex/Bin_7_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bin_7_convex/Bin_7_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bin_7_convex/Bin_7_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bin_7_convex/Bin_7_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bin_7_convex/Bin_7_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bin_7_convex/Bin_7_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bin_7_convex/Bin_7_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bin_7_convex/Bin_7_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bin_7_convex/Bin_7_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bin_7_convex/Bin_7_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bin_7_convex/Bin_7_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bin_7_convex/Bin_7_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bin_7_convex/Bin_7_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bin_7_convex/Bin_7_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Bin_7_convex/Bin_7_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Plunger_5_3_joint" type="fixed">
    <origin xyz="0.0991485059261322 -5.307003219604493 0.2696691155433655" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Plunger_5_3"/>
  </joint>
  <link name="Plunger_5_3">
    <visual name="Plunger_5_3_Plunger_2_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/Plunger.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Plunger_convex/Plunger_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Plunger_convex/Plunger_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
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    <collision>
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    <collision>
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        <mesh filename="dataset_house_56/meshes/obj/Plunger_convex/Plunger_convex_2.obj"/>
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    <collision>
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        <mesh filename="dataset_house_56/meshes/obj/Plunger_convex/Plunger_convex_3.obj"/>
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    <collision>
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        <mesh filename="dataset_house_56/meshes/obj/Plunger_convex/Plunger_convex_4.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Plunger_convex/Plunger_convex_5.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Plunger_convex/Plunger_convex_6.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Plunger_convex/Plunger_convex_7.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Plunger_convex/Plunger_convex_8.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Plunger_convex/Plunger_convex_9.obj"/>
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    <origin xyz="6.613724261760712 -1.2447227478027343 0.46873316168785095" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="CounterTop_6_0"/>
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  <link name="CounterTop_6_0">
    <visual name="CounterTop_6_0_CountertopI_8_X_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/CountertopI_8_X_2.stl" scale="1.0 1.0 1.0"/>
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    <collision>
      <geometry>
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    <origin xyz="5.418477674007416 -6.733522325992585 0.32797718048095703" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="GarbageCan_6_1"/>
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  <link name="GarbageCan_6_1">
    <visual name="GarbageCan_6_1_Bin_23_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/Bin_23.stl" scale="1.0 1.0 1.0"/>
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    <collision>
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    <collision>
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    <collision>
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    <collision>
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    <collision>
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    <collision>
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    <collision>
      <geometry>
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    <collision>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
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    <collision>
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    <collision>
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        <mesh filename="dataset_house_56/meshes/obj/Bin_23_convex/Bin_23_convex_8.obj"/>
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    <origin xyz="5.630149562835694 -5.301842081761954 1.0102462768554688" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Fridge_6_2"/>
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  <link name="Fridge_6_2">
    <visual name="Fridge_6_2_Fridge_7_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/FridgeC_4.stl" scale="1.0 1.0 1.0"/>
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    <collision>
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    <collision>
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    <collision>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/FridgeC_4_convex/FridgeC_4_convex_5.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/FridgeC_4_convex/FridgeC_4_convex_6.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/FridgeC_4_convex/FridgeC_4_convex_7.obj"/>
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    <collision>
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    <origin xyz="7.4691661316499784 -6.7349024417400365 0.29273661971092224" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Stool_6_3"/>
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  <link name="Stool_6_3">
    <visual name="Stool_6_3_Stool_3__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/Stool_3.stl" scale="1.0 1.0 1.0"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Stool_3_convex/Stool_3_convex_0.obj"/>
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        <mesh filename="dataset_house_56/meshes/obj/Stool_3_convex/Stool_3_convex_1.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Stool_3_convex/Stool_3_convex_10.obj"/>
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    <collision>
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    <collision>
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    <collision>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
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    <collision>
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    <collision>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
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    <origin xyz="9.467248355290453 -6.574967473983765 0.360828161239624" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="DiningTable_7_0"/>
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  <link name="DiningTable_7_0">
    <visual name="DiningTable_7_0_DiningTable_21__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/DiningTable_223.stl" scale="1.0 1.0 1.0"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DiningTable_223_convex/DiningTable_223_convex_0.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DiningTable_223_convex/DiningTable_223_convex_1.obj"/>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
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    <collision>
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    <collision>
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    <collision>
      <geometry>
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    <collision>
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    <collision>
      <geometry>
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    <collision>
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    <origin xyz="11.587469841957091 -4.698290369033813 0.531217634677887" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Sofa_7_1"/>
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  <link name="Sofa_7_1">
    <visual name="Sofa_7_1_Sofa_216__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/Sofa_216.stl" scale="1.0 1.0 1.0"/>
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      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Sofa_216_convex/Sofa_216_convex_0.obj"/>
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        <mesh filename="dataset_house_56/meshes/obj/Sofa_216_convex/Sofa_216_convex_1.obj"/>
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      <geometry>
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      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Sofa_216_convex/Sofa_216_convex_11.obj"/>
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    <collision>
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    <collision>
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    <collision>
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    <collision>
      <geometry>
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    <collision>
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    <collision>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
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  <joint name="DogBed_7_2_joint" type="fixed">
    <origin xyz="9.667407695597163 -5.060961376502542 0.054420676082372665" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="DogBed_7_2"/>
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  <link name="DogBed_7_2">
    <visual name="DogBed_7_2_DogBed_1__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/DogBed_1.stl" scale="1.0 1.0 1.0"/>
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      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DogBed_1_convex/DogBed_1_convex_0.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DogBed_1_convex/DogBed_1_convex_1.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DogBed_1_convex/DogBed_1_convex_10.obj"/>
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      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DogBed_1_convex/DogBed_1_convex_11.obj"/>
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    <collision>
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    <collision>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DogBed_1_convex/DogBed_1_convex_14.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DogBed_1_convex/DogBed_1_convex_15.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DogBed_1_convex/DogBed_1_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DogBed_1_convex/DogBed_1_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DogBed_1_convex/DogBed_1_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DogBed_1_convex/DogBed_1_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DogBed_1_convex/DogBed_1_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DogBed_1_convex/DogBed_1_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DogBed_1_convex/DogBed_1_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DogBed_1_convex/DogBed_1_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="SideTable_7_3_joint" type="fixed">
    <origin xyz="11.789879228591918 -6.588391512870789 0.2684326469898224" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="SideTable_7_3"/>
  </joint>
  <link name="SideTable_7_3">
    <visual name="SideTable_7_3_SideTable_309__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/SideTable_309.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/SideTable_309_convex/SideTable_309_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/SideTable_309_convex/SideTable_309_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/SideTable_309_convex/SideTable_309_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/SideTable_309_convex/SideTable_309_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/SideTable_309_convex/SideTable_309_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/SideTable_309_convex/SideTable_309_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/SideTable_309_convex/SideTable_309_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/SideTable_309_convex/SideTable_309_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/SideTable_309_convex/SideTable_309_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/SideTable_309_convex/SideTable_309_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/SideTable_309_convex/SideTable_309_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/SideTable_309_convex/SideTable_309_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/SideTable_309_convex/SideTable_309_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/SideTable_309_convex/SideTable_309_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/SideTable_309_convex/SideTable_309_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/SideTable_309_convex/SideTable_309_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Safe_7_4_joint" type="fixed">
    <origin xyz="11.16476114300168 -6.75167566561699 0.15159158408641815" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Safe_7_4"/>
  </joint>
  <link name="Safe_7_4">
    <visual name="Safe_7_4_Safe_18__2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/Safe_18.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Safe_18_convex/Safe_18_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Safe_18_convex/Safe_18_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Safe_18_convex/Safe_18_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Safe_18_convex/Safe_18_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Safe_18_convex/Safe_18_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Safe_18_convex/Safe_18_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Safe_18_convex/Safe_18_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Safe_18_convex/Safe_18_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Safe_18_convex/Safe_18_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Safe_18_convex/Safe_18_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Safe_18_convex/Safe_18_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Safe_18_convex/Safe_18_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Safe_18_convex/Safe_18_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Safe_18_convex/Safe_18_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Safe_18_convex/Safe_18_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Safe_18_convex/Safe_18_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Television_6_4_joint" type="fixed">
    <origin xyz="6.26029413961195 -0.08937480032444 1.9590935116669792" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Television_6_4"/>
  </joint>
  <link name="Television_6_4">
    <visual name="Television_6_4_Television_14_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/Television_14.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_14_convex/Television_14_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_14_convex/Television_14_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_14_convex/Television_14_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_14_convex/Television_14_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_14_convex/Television_14_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_14_convex/Television_14_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_14_convex/Television_14_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_14_convex/Television_14_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_14_convex/Television_14_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_14_convex/Television_14_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_14_convex/Television_14_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_14_convex/Television_14_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_14_convex/Television_14_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_14_convex/Television_14_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_14_convex/Television_14_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_14_convex/Television_14_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Television_7_5_joint" type="fixed">
    <origin xyz="9.34174544582052 -6.905349642723799 1.7362659430066452" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Television_7_5"/>
  </joint>
  <link name="Television_7_5">
    <visual name="Television_7_5_Television_25_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/Television_25.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_25_convex/Television_25_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_25_convex/Television_25_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_25_convex/Television_25_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_25_convex/Television_25_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_25_convex/Television_25_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_25_convex/Television_25_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_25_convex/Television_25_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_25_convex/Television_25_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_25_convex/Television_25_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_25_convex/Television_25_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_25_convex/Television_25_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_25_convex/Television_25_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_25_convex/Television_25_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_25_convex/Television_25_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_25_convex/Television_25_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Television_25_convex/Television_25_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_0_joint" type="fixed">
    <origin xyz="2.209540025005485 -5.208 1.0524564981460571" 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_DoorwayDouble_4_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/DoorwayDouble_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_4_convex/DoorwayDouble_4_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_1_joint" type="fixed">
    <origin xyz="5.208 -1.535907276750454 1.0479662418365479" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_1"/>
  </joint>
  <link name="Door_1">
    <visual name="Door_1_DoorwayDouble_5_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/DoorwayDouble_5.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/DoorwayDouble_5_convex/DoorwayDouble_5_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_2_joint" type="fixed">
    <origin xyz="11.42840390049227 -3.472 1.0534253120422363" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_2"/>
  </joint>
  <link name="Door_2">
    <visual name="Door_2_Doorway_6_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/Doorway_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Doorway_6_convex/Doorway_6_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Doorway_6_convex/Doorway_6_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Doorway_6_convex/Doorway_6_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Doorway_6_convex/Doorway_6_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Doorway_6_convex/Doorway_6_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Doorway_6_convex/Doorway_6_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Doorway_6_convex/Doorway_6_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Doorway_6_convex/Doorway_6_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Doorway_6_convex/Doorway_6_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Doorway_6_convex/Doorway_6_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Doorway_6_convex/Doorway_6_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Doorway_6_convex/Doorway_6_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Doorway_6_convex/Doorway_6_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Doorway_6_convex/Doorway_6_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/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_56/meshes/stl/Wall_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/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_56/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_56/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_56/meshes/stl/Wall_1_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Wall_1_0_convex/Wall_1_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Wall_1_1_convex/Wall_1_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/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_56/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_56/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_56/meshes/stl/Wall_2_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Wall_2_0_convex/Wall_2_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Wall_2_1_convex/Wall_2_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/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_56/meshes/stl/Wall_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/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_56/meshes/stl/Wall_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/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_56/meshes/stl/Wall_5.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/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_56/meshes/stl/Wall_7.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/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_56/meshes/stl/Wall_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/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_56/meshes/stl/Wall_9.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Wall_9_convex/Wall_9_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_56/meshes/stl/Wall_12.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/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_56/meshes/stl/Wall_13.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/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_56/meshes/stl/Wall_14.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/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_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/Wall_15.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Wall_15_convex/Wall_15_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_56/meshes/stl/Wall_16.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Wall_16_convex/Wall_16_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_18_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_18"/>
  </joint>
  <link name="Wall_18">
    <visual name="Wall_18_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/Wall_18.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Wall_18_convex/Wall_18_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_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/Wall_19.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Wall_19_convex/Wall_19_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_20_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_20"/>
  </joint>
  <link name="Wall_20">
    <visual name="Wall_20_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/Wall_20_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_20_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/Wall_20_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_20_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_56/meshes/stl/Wall_20_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Wall_20_0_convex/Wall_20_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Wall_20_1_convex/Wall_20_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_56/meshes/obj/Wall_20_2_convex/Wall_20_2_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
</robot>
