<?xml version="1.0" ?>
<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="1.244427466392517 -0.9497763156890869 0.46919140219688416" 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_CountertopC_8_X_6_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/CountertopC_8_X_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="CounterTop_2_0_CountertopC_8_X_6_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/CountertopC_8_X_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Fridge_2_1_joint" type="fixed">
    <origin xyz="0.3987906813621521 -4.705205374683243 0.984512209892273" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Fridge_2_1"/>
  </joint>
  <link name="Fridge_2_1">
    <visual name="Fridge_2_1_Fridge_22_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/FridgeA_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Fridge_2_1_Fridge_22_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/FridgeA_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="GarbageCan_2_2_joint" type="fixed">
    <origin xyz="0.2337588608264923 -3.485512945034565 0.2861071825027466" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="GarbageCan_2_2"/>
  </joint>
  <link name="GarbageCan_2_2">
    <visual name="GarbageCan_2_2_Bin_19_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Bin_19.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="GarbageCan_2_2_Bin_19_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Bin_19.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="GarbageBag_2_3_joint" type="fixed">
    <origin xyz="2.7622347865437265 -4.701690180363292 0.2789691686630249" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="GarbageBag_2_3"/>
  </joint>
  <link name="GarbageBag_2_3"/>
  <joint name="Toilet_3_0_joint" type="fixed">
    <origin xyz="11.400566374778748 -3.6812579534053804 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_83/meshes/stl/Toilet_1_Done_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Toilet_3_0_Toilet_1_0_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Toilet_1_Done_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Sink_3_1_0_joint" type="fixed">
    <origin xyz="11.524113332748414 -0.38449599742889407 0.5229595303535461" 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_19_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Sink_19.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Sink_3_1_0_Sink_19_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Sink_19.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="GarbageCan_3_2_joint" type="fixed">
    <origin xyz="11.701522325992585 -1.0201321812288453 0.32797718048095703" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="GarbageCan_3_2"/>
  </joint>
  <link name="GarbageCan_3_2">
    <visual name="GarbageCan_3_2_Bin_23_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Bin_23.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="GarbageCan_3_2_Bin_23_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Bin_23.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Dresser_3_3_joint" type="fixed">
    <origin xyz="9.354965054693487 -0.3175371825695038 0.5456188917160034" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Dresser_3_3"/>
  </joint>
  <link name="Dresser_3_3">
    <visual name="Dresser_3_3_Dresser_210__1__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Dresser_210__1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Dresser_3_3_Dresser_210__1__1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Dresser_210__1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Plunger_3_4_joint" type="fixed">
    <origin xyz="11.812996780395508 -2.39544831086563 0.2696691155433655" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Plunger_3_4"/>
  </joint>
  <link name="Plunger_3_4">
    <visual name="Plunger_3_4_Plunger_2_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Plunger.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Plunger_3_4_Plunger_2_0_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Plunger.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="DiningTable_4_0_0_joint" type="fixed">
    <origin xyz="4.832346304841013 -1.936495979628532 0.39052218198776245" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="DiningTable_4_0_0"/>
  </joint>
  <link name="DiningTable_4_0_0">
    <visual name="DiningTable_4_0_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_83/meshes/stl/DiningTable_218.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="DiningTable_4_0_0_DiningTable_218__1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/DiningTable_218.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Sofa_4_1_joint" type="fixed">
    <origin xyz="7.460739842414856 -1.6452118727454446 0.40816405415534973" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Sofa_4_1"/>
  </joint>
  <link name="Sofa_4_1">
    <visual name="Sofa_4_1_Sofa_207__3_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Sofa_207.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Sofa_4_1_Sofa_207__3_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Sofa_207.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="GarbageCan_4_2_joint" type="fixed">
    <origin xyz="4.236142762660981 -3.312891849433312 0.3115749955177307" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="GarbageCan_4_2"/>
  </joint>
  <link name="GarbageCan_4_2">
    <visual name="GarbageCan_4_2_Bin_26_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Bin_26.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="GarbageCan_4_2_Bin_26_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Bin_26.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Bed_5_0_joint" type="fixed">
    <origin xyz="9.181201377868652 -9.007873882770538 0.447925329208374" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Bed_5_0"/>
  </joint>
  <link name="Bed_5_0">
    <visual name="Bed_5_0_Bed_8_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Bed_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Bed_5_0_Bed_8_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Bed_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Dresser_5_1_joint" type="fixed">
    <origin xyz="11.080492889404297 -4.293031342983246 0.4848818778991699" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Dresser_5_1"/>
  </joint>
  <link name="Dresser_5_1">
    <visual name="Dresser_5_1_Dresser_315__2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Dresser_315.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Dresser_5_1_Dresser_315__2_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Dresser_315.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Bed_5_2_joint" type="fixed">
    <origin xyz="11.0614202375412 -6.098897663332731 0.33533501625061035" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Bed_5_2"/>
  </joint>
  <link name="Bed_5_2">
    <visual name="Bed_5_2_RobothorBedKritter_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/RobothorBedKritter.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Bed_5_2_RobothorBedKritter_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/RobothorBedKritter.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Desk_5_3_0_joint" type="fixed">
    <origin xyz="7.308475319494033 -4.274155714273453 0.45052170753479004" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Desk_5_3_0"/>
  </joint>
  <link name="Desk_5_3_0">
    <visual name="Desk_5_3_0_Desk_323__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Desk_323.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Desk_5_3_0_Desk_323__1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Desk_323.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Box_5_4_joint" type="fixed">
    <origin xyz="6.134905928134918 -7.749832740783692 0.13302946090698242" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Box_5_4"/>
  </joint>
  <link name="Box_5_4">
    <visual name="Box_5_4_Box_28_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Box_28.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Box_5_4_Box_28_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Box_28.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="SideTable_5_5_joint" type="fixed">
    <origin xyz="11.706650501012803 -7.244878938024029 0.33196911215782166" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="SideTable_5_5"/>
  </joint>
  <link name="SideTable_5_5">
    <visual name="SideTable_5_5_SideTable_305__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/SideTable_305.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="SideTable_5_5_SideTable_305__1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/SideTable_305.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Bed_6_0_0_joint" type="fixed">
    <origin xyz="5.036873882770539 -7.196201377868652 0.447925329208374" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Bed_6_0_0"/>
  </joint>
  <link name="Bed_6_0_0">
    <visual name="Bed_6_0_0_Bed_8_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Bed_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Bed_6_0_0_Bed_8_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Bed_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Dresser_6_1_joint" type="fixed">
    <origin xyz="2.00141085683654 -9.55199520778656 0.49052125215530396" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Dresser_6_1"/>
  </joint>
  <link name="Dresser_6_1">
    <visual name="Dresser_6_1_Dresser_217__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Dresser_217.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Dresser_6_1_Dresser_217__1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Dresser_217.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="FloorLamp_6_2_1_joint" type="fixed">
    <origin xyz="2.8792329715383556 -6.291410075414824 0.9515953063964844" rpy="0.0 0.0 -0.2801629602909088"/>
    <parent link="house_procthor_10k_house"/>
    <child link="FloorLamp_6_2_1"/>
  </joint>
  <link name="FloorLamp_6_2_1">
    <visual name="FloorLamp_6_2_1_FloorLamp_3_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/FloorLamp_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="FloorLamp_6_2_1_FloorLamp_3_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/FloorLamp_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="HousePlant_6_3_0_joint" type="fixed">
    <origin xyz="0.3632380589868424 -7.987761084450778 0.4925673007965088" rpy="0.0 0.0 -1.7617099285125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="HousePlant_6_3_0"/>
  </joint>
  <link name="HousePlant_6_3_0">
    <visual name="HousePlant_6_3_0_Houseplant_6_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Houseplant_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="HousePlant_6_3_0_Houseplant_6_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Houseplant_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Box_6_4_joint" type="fixed">
    <origin xyz="7.762094071865082 -9.73583274078369 0.13302946090698242" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Box_6_4"/>
  </joint>
  <link name="Box_6_4">
    <visual name="Box_6_4_Box_28_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Box_28.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Box_6_4_Box_28_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Box_28.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Television_4_3_joint" type="fixed">
    <origin xyz="7.85162519967556 -1.2602553620910502 1.8236485241874076" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Television_4_3"/>
  </joint>
  <link name="Television_4_3">
    <visual name="Television_4_3_Television_14_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Television_14.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Television_4_3_Television_14_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Television_14.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_0_joint" type="fixed">
    <origin xyz="7.941 -3.1907465852491996 1.0517940521240234" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_0"/>
  </joint>
  <link name="Door_0">
    <visual name="Door_0_Doorway_4_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Doorway_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Door_0_Doorway_4_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Doorway_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_1_joint" type="fixed">
    <origin xyz="3.971 -4.766912931763801 1.05002281954512" 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_Doorway_10_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Doorway_10.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Door_1_Doorway_10_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Doorway_10.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_2_joint" type="fixed">
    <origin xyz="5.956 -4.900207320378707 1.0459483740851283" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_2"/>
  </joint>
  <link name="Door_2">
    <visual name="Door_2_Doorway_5_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Doorway_5.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Door_2_Doorway_5_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Doorway_5.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_3_joint" type="fixed">
    <origin xyz="1.0921701003157878 -5.956 1.0517940521240234" 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_4_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Doorway_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Door_3_Doorway_4_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Doorway_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_4_joint" type="fixed">
    <origin xyz="5.326912295651399 0.0 1.049698829650879" 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_DoorwayDouble_8_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/DoorwayDouble_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Door_4_DoorwayDouble_8_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/DoorwayDouble_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_0_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_0"/>
  </joint>
  <link name="Wall_0">
    <visual name="Wall_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_0_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_1_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_1"/>
  </joint>
  <link name="Wall_1">
    <visual name="Wall_1_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_1_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_1_0_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_1_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <visual name="Wall_1_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_1_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_1_1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_1_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <visual name="Wall_1_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_1_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_1_2_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_1_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_2_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_2"/>
  </joint>
  <link name="Wall_2">
    <visual name="Wall_2_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_2_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_2_0_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_2_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <visual name="Wall_2_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_2_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_2_1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_2_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <visual name="Wall_2_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_2_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_2_2_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_2_2.stl" scale="1.0 1.0 1.0"/>
      </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_83/meshes/stl/Wall_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_3_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_4_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_4"/>
  </joint>
  <link name="Wall_4">
    <visual name="Wall_4_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_4_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_4_0_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_4_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <visual name="Wall_4_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_4_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_4_1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_4_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <visual name="Wall_4_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_4_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_4_2_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_4_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_5_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_5"/>
  </joint>
  <link name="Wall_5">
    <visual name="Wall_5_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_5.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_5_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_5.stl" scale="1.0 1.0 1.0"/>
      </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_83/meshes/stl/Wall_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_6_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_6.stl" scale="1.0 1.0 1.0"/>
      </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_83/meshes/stl/Wall_7.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_7_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_7.stl" scale="1.0 1.0 1.0"/>
      </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_83/meshes/stl/Wall_9.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_9_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_9.stl" scale="1.0 1.0 1.0"/>
      </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_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_10_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_10_0_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_10_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <visual name="Wall_10_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_10_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_10_1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_10_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <visual name="Wall_10_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_10_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_10_2_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_10_2.stl" scale="1.0 1.0 1.0"/>
      </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_83/meshes/stl/Wall_11.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_11_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_11.stl" scale="1.0 1.0 1.0"/>
      </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_83/meshes/stl/Wall_13_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_13_0_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_13_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <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_83/meshes/stl/Wall_13_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_13_1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_13_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <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_83/meshes/stl/Wall_13_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_13_2_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_13_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_15_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_15"/>
  </joint>
  <link name="Wall_15">
    <visual name="Wall_15_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_15.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_15_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_15.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_16_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_16"/>
  </joint>
  <link name="Wall_16">
    <visual name="Wall_16_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_16.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_16_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_16.stl" scale="1.0 1.0 1.0"/>
      </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_83/meshes/stl/Wall_17.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_17_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_17.stl" scale="1.0 1.0 1.0"/>
      </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_83/meshes/stl/Wall_18.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_18_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_18.stl" scale="1.0 1.0 1.0"/>
      </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_83/meshes/stl/Wall_19.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_19_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_19.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_22_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963705062866 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Wall_22"/>
  </joint>
  <link name="Wall_22">
    <visual name="Wall_22_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_22.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_22_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_22.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Wall_23_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_23"/>
  </joint>
  <link name="Wall_23">
    <visual name="Wall_23_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_23.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_23_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_83/meshes/stl/Wall_23.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
</robot>