<?xml version='1.0' encoding='UTF-8'?>
<robot name="" version="1.0">
  <link name="house_procthor_10k_house"/>
  <joint name="Bedroom_2_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Bedroom_2"/>
  </joint>
  <link name="Bedroom_2"/>
  <joint name="Bathroom_3_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Bathroom_3"/>
  </joint>
  <link name="Bathroom_3"/>
  <joint name="Bed_2_0_0_joint" type="fixed">
    <origin xyz="9.060633848190307 -1.526103170014596 0.45509809255599976" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Bed_2_0_0"/>
  </joint>
  <link name="Bed_2_0_0">
    <visual name="Bed_2_0_0_Bed_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_6/meshes/stl/Bed_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Bed_1_convex/Bed_1_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Bed_1_convex/Bed_1_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Bed_1_convex/Bed_1_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Bed_1_convex/Bed_1_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Bed_1_convex/Bed_1_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Bed_1_convex/Bed_1_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Bed_1_convex/Bed_1_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Bed_1_convex/Bed_1_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Bed_1_convex/Bed_1_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Bed_1_convex/Bed_1_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Bed_1_convex/Bed_1_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Bed_1_convex/Bed_1_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Bed_1_convex/Bed_1_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Bed_1_convex/Bed_1_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Bed_1_convex/Bed_1_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Bed_1_convex/Bed_1_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Dresser_2_1_joint" type="fixed">
    <origin xyz="9.899331013441085 -9.496475348949431 0.35076457262039185" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Dresser_2_1"/>
  </joint>
  <link name="Dresser_2_1">
    <visual name="Dresser_2_1_Dresser_229__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_6/meshes/stl/Dresser_229.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Dresser_229_convex/Dresser_229_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Dresser_229_convex/Dresser_229_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Dresser_229_convex/Dresser_229_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Dresser_229_convex/Dresser_229_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Dresser_229_convex/Dresser_229_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Dresser_229_convex/Dresser_229_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Dresser_229_convex/Dresser_229_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Dresser_229_convex/Dresser_229_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Dresser_229_convex/Dresser_229_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Dresser_229_convex/Dresser_229_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Dresser_229_convex/Dresser_229_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Dresser_229_convex/Dresser_229_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Dresser_229_convex/Dresser_229_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Dresser_229_convex/Dresser_229_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Dresser_229_convex/Dresser_229_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Dresser_229_convex/Dresser_229_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="FloorLamp_2_2_1_joint" type="fixed">
    <origin xyz="9.65250204014778 -4.102329168314989 0.8828924894332886" rpy="0.0 0.0 1.0034970045089722"/>
    <parent link="house_procthor_10k_house"/>
    <child link="FloorLamp_2_2_1"/>
  </joint>
  <link name="FloorLamp_2_2_1">
    <visual name="FloorLamp_2_2_1_FloorLamp_19_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_6/meshes/stl/FloorLamp_19.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/FloorLamp_19_convex/FloorLamp_19_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/FloorLamp_19_convex/FloorLamp_19_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/FloorLamp_19_convex/FloorLamp_19_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/FloorLamp_19_convex/FloorLamp_19_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/FloorLamp_19_convex/FloorLamp_19_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/FloorLamp_19_convex/FloorLamp_19_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/FloorLamp_19_convex/FloorLamp_19_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/FloorLamp_19_convex/FloorLamp_19_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/FloorLamp_19_convex/FloorLamp_19_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/FloorLamp_19_convex/FloorLamp_19_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/FloorLamp_19_convex/FloorLamp_19_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/FloorLamp_19_convex/FloorLamp_19_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/FloorLamp_19_convex/FloorLamp_19_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/FloorLamp_19_convex/FloorLamp_19_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/FloorLamp_19_convex/FloorLamp_19_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/FloorLamp_19_convex/FloorLamp_19_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="DiningTable_2_3_0_joint" type="fixed">
    <origin xyz="7.119243945176458 -4.837872461077097 0.39023110270500183" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="DiningTable_2_3_0"/>
  </joint>
  <link name="DiningTable_2_3_0">
    <visual name="DiningTable_2_3_0_DiningTable_208__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_6/meshes/stl/DiningTable_208.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DiningTable_208_convex/DiningTable_208_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Toilet_3_0_joint" type="fixed">
    <origin xyz="2.5364336252212523 -7.808257953405381 0.5189565420150757" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Toilet_3_0"/>
  </joint>
  <link name="Toilet_3_0">
    <visual name="Toilet_3_0_Toilet_1_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_6/meshes/stl/Toilet_1_Done_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_13.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_15.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_2.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_3.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_4.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_5.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_6.obj"/>
      </geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_7.obj"/>
      </geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Sink_3_1_0_joint" type="fixed">
    <origin xyz="0.3387441873550415 -5.682020043373107 0.5097440481185913" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Sink_3_1_0"/>
  </joint>
  <link name="Sink_3_1_0">
    <visual name="Sink_3_1_0_Sink_15_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_6/meshes/stl/Sink_15.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Sink_15_convex/Sink_15_convex_0.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Sink_15_convex/Sink_15_convex_1.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Sink_15_convex/Sink_15_convex_10.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Sink_15_convex/Sink_15_convex_11.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Sink_15_convex/Sink_15_convex_12.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Sink_15_convex/Sink_15_convex_13.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Sink_15_convex/Sink_15_convex_14.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Sink_15_convex/Sink_15_convex_15.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Sink_15_convex/Sink_15_convex_2.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Sink_15_convex/Sink_15_convex_3.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Sink_15_convex/Sink_15_convex_4.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Sink_15_convex/Sink_15_convex_5.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Sink_15_convex/Sink_15_convex_6.obj"/>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Sink_15_convex/Sink_15_convex_8.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Sink_15_convex/Sink_15_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Plunger_3_2_joint" type="fixed">
    <origin xyz="0.0991485059261322 -0.09900321960449218 0.2696691155433655" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Plunger_3_2"/>
  </joint>
  <link name="Plunger_3_2">
    <visual name="Plunger_3_2_Plunger_3_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_6/meshes/stl/Plunger.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Plunger_convex/Plunger_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Plunger_convex/Plunger_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Plunger_convex/Plunger_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Plunger_convex/Plunger_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Plunger_convex/Plunger_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Plunger_convex/Plunger_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Plunger_convex/Plunger_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Plunger_convex/Plunger_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Plunger_convex/Plunger_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Plunger_convex/Plunger_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Plunger_convex/Plunger_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Plunger_convex/Plunger_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Plunger_convex/Plunger_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Plunger_convex/Plunger_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Plunger_convex/Plunger_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Plunger_convex/Plunger_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_0_joint" type="fixed">
    <origin xyz="4.049 -2.242056729709356 1.037670373916626" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_0"/>
  </joint>
  <link name="Door_0">
    <visual name="Door_0_DoorwayDouble_9_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_6/meshes/stl/DoorwayDouble_9.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_9_convex/DoorwayDouble_9_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_9_convex/DoorwayDouble_9_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_9_convex/DoorwayDouble_9_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_9_convex/DoorwayDouble_9_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_9_convex/DoorwayDouble_9_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_9_convex/DoorwayDouble_9_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_9_convex/DoorwayDouble_9_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_9_convex/DoorwayDouble_9_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_9_convex/DoorwayDouble_9_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_9_convex/DoorwayDouble_9_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_9_convex/DoorwayDouble_9_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_9_convex/DoorwayDouble_9_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_9_convex/DoorwayDouble_9_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_1_joint" type="fixed">
    <origin xyz="5.5358686376321815 0.0 1.0651136636734009" 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_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_6/meshes/stl/DoorwayDouble_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_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_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_6/meshes/stl/Wall_0_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_0_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_6/meshes/stl/Wall_0_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_0_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_6/meshes/stl/Wall_0_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Wall_0_0_convex/Wall_0_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Wall_0_1_convex/Wall_0_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Wall_0_2_convex/Wall_0_2_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_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_6/meshes/stl/Wall_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Wall_1_convex/Wall_1_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_2_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_2"/>
  </joint>
  <link name="Wall_2">
    <visual name="Wall_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_6/meshes/stl/Wall_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Wall_2_convex/Wall_2_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_3_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_3"/>
  </joint>
  <link name="Wall_3">
    <visual name="Wall_3_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_6/meshes/stl/Wall_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/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_6/meshes/stl/Wall_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/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_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_6/meshes/stl/Wall_5_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_5_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_6/meshes/stl/Wall_5_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_5_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_6/meshes/stl/Wall_5_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Wall_5_0_convex/Wall_5_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Wall_5_1_convex/Wall_5_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Wall_5_2_convex/Wall_5_2_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_6/meshes/stl/Wall_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/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_6/meshes/stl/Wall_7.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/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_6/meshes/stl/Wall_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Wall_8_convex/Wall_8_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_10_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_10"/>
  </joint>
  <link name="Wall_10">
    <visual name="Wall_10_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_6/meshes/stl/Wall_10.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Wall_10_convex/Wall_10_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_6/meshes/stl/Wall_11.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_6/meshes/obj/Wall_11_convex/Wall_11_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
</robot>
