<?xml version='1.0' encoding='UTF-8'?>
<robot name="" version="1.0">
  <link name="house_procthor_10k_house"/>
  <joint name="Kitchen_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="Kitchen_2"/>
  </joint>
  <link name="Kitchen_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="LivingRoom_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="LivingRoom_4"/>
  </joint>
  <link name="LivingRoom_4"/>
  <joint name="Bedroom_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="Bedroom_5"/>
  </joint>
  <link name="Bedroom_5"/>
  <joint name="Bedroom_6_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Bedroom_6"/>
  </joint>
  <link name="Bedroom_6"/>
  <joint name="CounterTop_2_0_joint" type="fixed">
    <origin xyz="6.963356089591979 -5.046012592315673 0.46919143199920654" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="CounterTop_2_0"/>
  </joint>
  <link name="CounterTop_2_0">
    <visual name="CounterTop_2_0_CountertopL_4_X_8_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/CountertopL_4_X_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/CountertopL_4_X_8_convex/CountertopL_4_X_8_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/CountertopL_4_X_8_convex/CountertopL_4_X_8_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/CountertopL_4_X_8_convex/CountertopL_4_X_8_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/CountertopL_4_X_8_convex/CountertopL_4_X_8_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/CountertopL_4_X_8_convex/CountertopL_4_X_8_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/CountertopL_4_X_8_convex/CountertopL_4_X_8_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/CountertopL_4_X_8_convex/CountertopL_4_X_8_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/CountertopL_4_X_8_convex/CountertopL_4_X_8_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/CountertopL_4_X_8_convex/CountertopL_4_X_8_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/CountertopL_4_X_8_convex/CountertopL_4_X_8_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/CountertopL_4_X_8_convex/CountertopL_4_X_8_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/CountertopL_4_X_8_convex/CountertopL_4_X_8_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/CountertopL_4_X_8_convex/CountertopL_4_X_8_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/CountertopL_4_X_8_convex/CountertopL_4_X_8_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/CountertopL_4_X_8_convex/CountertopL_4_X_8_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/CountertopL_4_X_8_convex/CountertopL_4_X_8_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Fridge_2_1_joint" type="fixed">
    <origin xyz="4.952249154910427 -7.098448944091796 1.088934302330017" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Fridge_2_1"/>
  </joint>
  <link name="Fridge_2_1">
    <visual name="Fridge_2_1_Fridge_29_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/FridgeD_5.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FridgeD_5_convex/FridgeD_5_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FridgeD_5_convex/FridgeD_5_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FridgeD_5_convex/FridgeD_5_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FridgeD_5_convex/FridgeD_5_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FridgeD_5_convex/FridgeD_5_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FridgeD_5_convex/FridgeD_5_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FridgeD_5_convex/FridgeD_5_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FridgeD_5_convex/FridgeD_5_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FridgeD_5_convex/FridgeD_5_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FridgeD_5_convex/FridgeD_5_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FridgeD_5_convex/FridgeD_5_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FridgeD_5_convex/FridgeD_5_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FridgeD_5_convex/FridgeD_5_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FridgeD_5_convex/FridgeD_5_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FridgeD_5_convex/FridgeD_5_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FridgeD_5_convex/FridgeD_5_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="ShelvingUnit_2_2_joint" type="fixed">
    <origin xyz="4.793332430037443 -3.9974583953619 0.7059943675994873" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="ShelvingUnit_2_2"/>
  </joint>
  <link name="ShelvingUnit_2_2">
    <visual name="ShelvingUnit_2_2_ShelvingUnit_325__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/ShelvingUnit_325.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/ShelvingUnit_325_convex/ShelvingUnit_325_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/ShelvingUnit_325_convex/ShelvingUnit_325_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/ShelvingUnit_325_convex/ShelvingUnit_325_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/ShelvingUnit_325_convex/ShelvingUnit_325_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/ShelvingUnit_325_convex/ShelvingUnit_325_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/ShelvingUnit_325_convex/ShelvingUnit_325_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/ShelvingUnit_325_convex/ShelvingUnit_325_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/ShelvingUnit_325_convex/ShelvingUnit_325_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/ShelvingUnit_325_convex/ShelvingUnit_325_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/ShelvingUnit_325_convex/ShelvingUnit_325_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/ShelvingUnit_325_convex/ShelvingUnit_325_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/ShelvingUnit_325_convex/ShelvingUnit_325_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/ShelvingUnit_325_convex/ShelvingUnit_325_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/ShelvingUnit_325_convex/ShelvingUnit_325_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/ShelvingUnit_325_convex/ShelvingUnit_325_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/ShelvingUnit_325_convex/ShelvingUnit_325_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Toilet_3_0_joint" type="fixed">
    <origin xyz="0.2897420465946198 -7.088566374778747 0.5189565420150757" rpy="0.0 0.0 3.1415927410125732"/>
    <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_63/meshes/stl/Toilet_1_Done_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_13.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_14.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_15.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_2.obj"/>
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    <collision>
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        <mesh filename="dataset_house_63/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_3.obj"/>
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    <collision>
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    <collision>
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      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_6.obj"/>
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    <collision>
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        <mesh filename="dataset_house_63/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_7.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_8.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Toilet_1_Done_1_convex/Toilet_1_Done_1_convex_9.obj"/>
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    </collision>
  </link>
  <joint name="Sink_3_1_0_joint" type="fixed">
    <origin xyz="1.009559107863799 -7.253828597068786 0.4927992820739746" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Sink_3_1_0"/>
  </joint>
  <link name="Sink_3_1_0">
    <visual name="Sink_3_1_0_Sink_26_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Sink_26.stl" scale="1.0 1.0 1.0"/>
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    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sink_26_convex/Sink_26_convex_0.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sink_26_convex/Sink_26_convex_1.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sink_26_convex/Sink_26_convex_10.obj"/>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sink_26_convex/Sink_26_convex_14.obj"/>
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      <geometry>
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  <joint name="LaundryHamper_3_2_joint" type="fixed">
    <origin xyz="2.100282835960388 -4.050641816854476 0.30180999636650085" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="LaundryHamper_3_2"/>
  </joint>
  <link name="LaundryHamper_3_2">
    <visual name="LaundryHamper_3_2_LaundryHamper_1__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/LaundryHamper_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/LaundryHamper_1_convex/LaundryHamper_1_convex_0.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/LaundryHamper_1_convex/LaundryHamper_1_convex_1.obj"/>
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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>
        <mesh filename="dataset_house_63/meshes/obj/LaundryHamper_1_convex/LaundryHamper_1_convex_5.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/LaundryHamper_1_convex/LaundryHamper_1_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/LaundryHamper_1_convex/LaundryHamper_1_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/LaundryHamper_1_convex/LaundryHamper_1_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/LaundryHamper_1_convex/LaundryHamper_1_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Plunger_3_3_joint" type="fixed">
    <origin xyz="3.7009967803955077 -3.899148505926132 0.2696691155433655" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Plunger_3_3"/>
  </joint>
  <link name="Plunger_3_3">
    <visual name="Plunger_3_3_Plunger_3_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Plunger.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Plunger_convex/Plunger_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Plunger_convex/Plunger_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Plunger_convex/Plunger_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Plunger_convex/Plunger_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Plunger_convex/Plunger_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Plunger_convex/Plunger_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Plunger_convex/Plunger_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Plunger_convex/Plunger_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Plunger_convex/Plunger_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Plunger_convex/Plunger_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Plunger_convex/Plunger_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Plunger_convex/Plunger_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Plunger_convex/Plunger_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Plunger_convex/Plunger_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Plunger_convex/Plunger_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Plunger_convex/Plunger_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="TVStand_4_0_0_joint" type="fixed">
    <origin xyz="6.933544120050676 -7.883087247610092 0.19924777746200562" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="TVStand_4_0_0"/>
  </joint>
  <link name="TVStand_4_0_0">
    <visual name="TVStand_4_0_0_TvStand_222__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/TvStand_222.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/TvStand_222_convex/TvStand_222_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/TvStand_222_convex/TvStand_222_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/TvStand_222_convex/TvStand_222_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/TvStand_222_convex/TvStand_222_convex_11.obj"/>
      </geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/TvStand_222_convex/TvStand_222_convex_12.obj"/>
      </geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/TvStand_222_convex/TvStand_222_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/TvStand_222_convex/TvStand_222_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/TvStand_222_convex/TvStand_222_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/TvStand_222_convex/TvStand_222_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/TvStand_222_convex/TvStand_222_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/TvStand_222_convex/TvStand_222_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/TvStand_222_convex/TvStand_222_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/TvStand_222_convex/TvStand_222_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/TvStand_222_convex/TvStand_222_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/TvStand_222_convex/TvStand_222_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/TvStand_222_convex/TvStand_222_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="DiningTable_4_1_0_joint" type="fixed">
    <origin xyz="3.2334985656941226 -10.525671532172517 0.39052218198776245" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="DiningTable_4_1_0"/>
  </joint>
  <link name="DiningTable_4_1_0">
    <visual name="DiningTable_4_1_0_DiningTable_218__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/DiningTable_218.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_0.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_1.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DiningTable_218_convex/DiningTable_218_convex_9.obj"/>
      </geometry>
    </collision>
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  <joint name="Sofa_4_2_joint" type="fixed">
    <origin xyz="6.217837450491801 -10.910768240690231 0.4549567699432373" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Sofa_4_2"/>
  </joint>
  <link name="Sofa_4_2">
    <visual name="Sofa_4_2_Sofa_205__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Sofa_205.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sofa_205_convex/Sofa_205_convex_0.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sofa_205_convex/Sofa_205_convex_1.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sofa_205_convex/Sofa_205_convex_10.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sofa_205_convex/Sofa_205_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sofa_205_convex/Sofa_205_convex_12.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sofa_205_convex/Sofa_205_convex_13.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sofa_205_convex/Sofa_205_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sofa_205_convex/Sofa_205_convex_15.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sofa_205_convex/Sofa_205_convex_2.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sofa_205_convex/Sofa_205_convex_3.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sofa_205_convex/Sofa_205_convex_4.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sofa_205_convex/Sofa_205_convex_5.obj"/>
      </geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sofa_205_convex/Sofa_205_convex_6.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sofa_205_convex/Sofa_205_convex_7.obj"/>
      </geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sofa_205_convex/Sofa_205_convex_8.obj"/>
      </geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Sofa_205_convex/Sofa_205_convex_9.obj"/>
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    </collision>
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  <joint name="FloorLamp_4_3_1_joint" type="fixed">
    <origin xyz="4.758433299850994 -8.070497930049896 0.9450488686561584" rpy="0.0 0.0 -0.5437386631965637"/>
    <parent link="house_procthor_10k_house"/>
    <child link="FloorLamp_4_3_1"/>
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  <link name="FloorLamp_4_3_1">
    <visual name="FloorLamp_4_3_1_FloorLamp_27_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/FloorLamp_27.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_27_convex/FloorLamp_27_convex_0.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_27_convex/FloorLamp_27_convex_1.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_27_convex/FloorLamp_27_convex_10.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_27_convex/FloorLamp_27_convex_11.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_27_convex/FloorLamp_27_convex_12.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_27_convex/FloorLamp_27_convex_13.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_27_convex/FloorLamp_27_convex_14.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_27_convex/FloorLamp_27_convex_15.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_27_convex/FloorLamp_27_convex_2.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_27_convex/FloorLamp_27_convex_3.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_27_convex/FloorLamp_27_convex_4.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_27_convex/FloorLamp_27_convex_5.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_27_convex/FloorLamp_27_convex_6.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_27_convex/FloorLamp_27_convex_7.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_27_convex/FloorLamp_27_convex_8.obj"/>
      </geometry>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_27_convex/FloorLamp_27_convex_9.obj"/>
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  <joint name="Box_4_4_joint" type="fixed">
    <origin xyz="2.0802167683839796 -9.289662412237645 0.15055829286575317" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Box_4_4"/>
  </joint>
  <link name="Box_4_4">
    <visual name="Box_4_4_Box_19_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Box_19.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Box_19_convex/Box_19_convex_0.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Box_19_convex/Box_19_convex_1.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Box_19_convex/Box_19_convex_10.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Box_19_convex/Box_19_convex_11.obj"/>
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    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Box_19_convex/Box_19_convex_12.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Box_19_convex/Box_19_convex_13.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Box_19_convex/Box_19_convex_14.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Box_19_convex/Box_19_convex_15.obj"/>
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    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Box_19_convex/Box_19_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Box_19_convex/Box_19_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Box_19_convex/Box_19_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Box_19_convex/Box_19_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Box_19_convex/Box_19_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Box_19_convex/Box_19_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Box_19_convex/Box_19_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Box_19_convex/Box_19_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Bed_5_0_0_joint" type="fixed">
    <origin xyz="1.230763816833496 -1.0606053113937375 0.6772911548614502" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Bed_5_0_0"/>
  </joint>
  <link name="Bed_5_0_0">
    <visual name="Bed_5_0_0_Bed_9_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Bed_9.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Bed_9_convex/Bed_9_convex_0.obj"/>
      </geometry>
    </collision>
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    <parent link="house_procthor_10k_house"/>
    <child link="GarbageCan_5_2"/>
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      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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        <mesh filename="file://dataset_house_63/meshes/stl/Bin_18.stl" scale="1.0 1.0 1.0"/>
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    <parent link="house_procthor_10k_house"/>
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    <visual name="SideTable_5_3_SideTable_209__1__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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    <child link="Dresser_6_1"/>
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      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Dresser_413_convex/Dresser_413_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Dresser_413_convex/Dresser_413_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Dresser_413_convex/Dresser_413_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Dresser_413_convex/Dresser_413_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Dresser_413_convex/Dresser_413_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="SideTable_6_2_joint" type="fixed">
    <origin xyz="8.087688267230988 -6.586522069179936 0.3329933285713196" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="SideTable_6_2"/>
  </joint>
  <link name="SideTable_6_2">
    <visual name="SideTable_6_2_SideTable_228__1__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/SideTable_228__1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/SideTable_228__1_convex/SideTable_228__1_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/SideTable_228__1_convex/SideTable_228__1_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/SideTable_228__1_convex/SideTable_228__1_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/SideTable_228__1_convex/SideTable_228__1_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/SideTable_228__1_convex/SideTable_228__1_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/SideTable_228__1_convex/SideTable_228__1_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/SideTable_228__1_convex/SideTable_228__1_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/SideTable_228__1_convex/SideTable_228__1_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/SideTable_228__1_convex/SideTable_228__1_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/SideTable_228__1_convex/SideTable_228__1_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/SideTable_228__1_convex/SideTable_228__1_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/SideTable_228__1_convex/SideTable_228__1_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/SideTable_228__1_convex/SideTable_228__1_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/SideTable_228__1_convex/SideTable_228__1_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/SideTable_228__1_convex/SideTable_228__1_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/SideTable_228__1_convex/SideTable_228__1_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="FloorLamp_6_3_1_joint" type="fixed">
    <origin xyz="11.540110328396517 -4.32950050830841 0.9675791263580322" rpy="0.0 0.0 1.146283507347107"/>
    <parent link="house_procthor_10k_house"/>
    <child link="FloorLamp_6_3_1"/>
  </joint>
  <link name="FloorLamp_6_3_1">
    <visual name="FloorLamp_6_3_1_FloorLamp_11_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/FloorLamp_11.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_11_convex/FloorLamp_11_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_11_convex/FloorLamp_11_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_11_convex/FloorLamp_11_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_11_convex/FloorLamp_11_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_11_convex/FloorLamp_11_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_11_convex/FloorLamp_11_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_11_convex/FloorLamp_11_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_11_convex/FloorLamp_11_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_11_convex/FloorLamp_11_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_11_convex/FloorLamp_11_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_11_convex/FloorLamp_11_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_11_convex/FloorLamp_11_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_11_convex/FloorLamp_11_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_11_convex/FloorLamp_11_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_11_convex/FloorLamp_11_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/FloorLamp_11_convex/FloorLamp_11_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="HousePlant_6_4_0_joint" type="fixed">
    <origin xyz="9.045978101597598 -3.9781169112938 0.44784826040267944" rpy="0.0 0.0 -0.24735704064369202"/>
    <parent link="house_procthor_10k_house"/>
    <child link="HousePlant_6_4_0"/>
  </joint>
  <link name="HousePlant_6_4_0">
    <visual name="HousePlant_6_4_0_Houseplant_27_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Houseplant_27.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Houseplant_27_convex/Houseplant_27_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Television_6_6_joint" type="fixed">
    <origin xyz="12.25550690775141 -7.5613496427237985 1.9726974247715146" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Television_6_6"/>
  </joint>
  <link name="Television_6_6">
    <visual name="Television_6_6_Television_25_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Television_25.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Television_25_convex/Television_25_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Television_25_convex/Television_25_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Television_25_convex/Television_25_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Television_25_convex/Television_25_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Television_25_convex/Television_25_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Television_25_convex/Television_25_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Television_25_convex/Television_25_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Television_25_convex/Television_25_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Television_25_convex/Television_25_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Television_25_convex/Television_25_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Television_25_convex/Television_25_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Television_25_convex/Television_25_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Television_25_convex/Television_25_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Television_25_convex/Television_25_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Television_25_convex/Television_25_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Television_25_convex/Television_25_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_0_joint" type="fixed">
    <origin xyz="2.537100659457843 -7.6 1.0517940521240234" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_0"/>
  </joint>
  <link name="Door_0">
    <visual name="Door_0_Doorway_4_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Doorway_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_1_joint" type="fixed">
    <origin xyz="3.8 -5.719305716958813 1.0651136636734009" 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_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/DoorwayDouble_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/DoorwayDouble_1_convex/DoorwayDouble_1_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_2_joint" type="fixed">
    <origin xyz="5.773760311902287 -3.8 1.05002281954512" 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_10_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Doorway_10.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_10_convex/Doorway_10_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_10_convex/Doorway_10_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_10_convex/Doorway_10_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_10_convex/Doorway_10_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_10_convex/Doorway_10_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_10_convex/Doorway_10_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_10_convex/Doorway_10_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_10_convex/Doorway_10_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_10_convex/Doorway_10_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_10_convex/Doorway_10_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_10_convex/Doorway_10_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_10_convex/Doorway_10_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_10_convex/Doorway_10_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_10_convex/Doorway_10_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_10_convex/Doorway_10_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_10_convex/Doorway_10_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_3_joint" type="fixed">
    <origin xyz="8.170397003265645 -9.5 1.0534253120422363" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_3"/>
  </joint>
  <link name="Door_3">
    <visual name="Door_3_Doorway_6_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Doorway_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_6_convex/Doorway_6_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_6_convex/Doorway_6_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_6_convex/Doorway_6_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_6_convex/Doorway_6_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_6_convex/Doorway_6_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_6_convex/Doorway_6_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_6_convex/Doorway_6_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_6_convex/Doorway_6_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_6_convex/Doorway_6_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_6_convex/Doorway_6_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_6_convex/Doorway_6_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_6_convex/Doorway_6_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_6_convex/Doorway_6_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_6_convex/Doorway_6_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_6_convex/Doorway_6_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_4_joint" type="fixed">
    <origin xyz="8.107091957239703 -11.4 1.0517940521240234" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_4"/>
  </joint>
  <link name="Door_4">
    <visual name="Door_4_Doorway_4_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Doorway_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_0.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_1.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_10.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_11.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_12.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_13.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_14.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_15.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_2.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_3.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_4.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_5.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_6.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_7.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_8.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Doorway_4_convex/Doorway_4_convex_9.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_0_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_0"/>
  </joint>
  <link name="Wall_0">
    <visual name="Wall_0_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/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_63/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_63/meshes/stl/Wall_0_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_0_0_convex/Wall_0_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_0_1_convex/Wall_0_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/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_63/meshes/stl/Wall_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/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_63/meshes/stl/Wall_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/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_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Wall_3_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_3_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Wall_3_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_3_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Wall_3_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_3_0_convex/Wall_3_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_3_1_convex/Wall_3_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_3_2_convex/Wall_3_2_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_63/meshes/stl/Wall_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/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_63/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_63/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_63/meshes/stl/Wall_5_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_5_0_convex/Wall_5_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_5_1_convex/Wall_5_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_5_2_convex/Wall_5_2_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_63/meshes/stl/Wall_7.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/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_63/meshes/stl/Wall_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/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_63/meshes/stl/Wall_9.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_9_convex/Wall_9_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_63/meshes/stl/Wall_10.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/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_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Wall_11_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_11_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Wall_11_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_11_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Wall_11_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_11_0_convex/Wall_11_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_11_1_convex/Wall_11_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_11_2_convex/Wall_11_2_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_63/meshes/stl/Wall_12.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/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_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Wall_13_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_13_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Wall_13_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <visual name="Wall_13_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Wall_13_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_13_0_convex/Wall_13_0_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_13_1_convex/Wall_13_1_convex_convex.obj"/>
      </geometry>
    </collision>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_13_2_convex/Wall_13_2_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_63/meshes/stl/Wall_14.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_14_convex/Wall_14_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_17_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_17"/>
  </joint>
  <link name="Wall_17">
    <visual name="Wall_17_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Wall_17.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_17_convex/Wall_17_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_63/meshes/stl/Wall_18.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/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_63/meshes/stl/Wall_19.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_19_convex/Wall_19_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_24_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_24"/>
  </joint>
  <link name="Wall_24">
    <visual name="Wall_24_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Wall_24.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_24_convex/Wall_24_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_25_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_25"/>
  </joint>
  <link name="Wall_25">
    <visual name="Wall_25_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Wall_25.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_25_convex/Wall_25_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_26_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_26"/>
  </joint>
  <link name="Wall_26">
    <visual name="Wall_26_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Wall_26.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_26_convex/Wall_26_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_31_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_31"/>
  </joint>
  <link name="Wall_31">
    <visual name="Wall_31_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Wall_31.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_31_convex/Wall_31_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_32_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_32"/>
  </joint>
  <link name="Wall_32">
    <visual name="Wall_32_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Wall_32.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_32_convex/Wall_32_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_33_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_33"/>
  </joint>
  <link name="Wall_33">
    <visual name="Wall_33_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Wall_33.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_33_convex/Wall_33_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_34_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_34"/>
  </joint>
  <link name="Wall_34">
    <visual name="Wall_34_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Wall_34.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_34_convex/Wall_34_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_35_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_35"/>
  </joint>
  <link name="Wall_35">
    <visual name="Wall_35_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_63/meshes/stl/Wall_35.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="dataset_house_63/meshes/obj/Wall_35_convex/Wall_35_convex_convex.obj"/>
      </geometry>
    </collision>
  </link>
</robot>
