<?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="LivingRoom_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="LivingRoom_3"/>
  </joint>
  <link name="LivingRoom_3"/>
  <joint name="CounterTop_2_0_joint" type="fixed">
    <origin xyz="7.961999603271485 -1.5490001678466796 0.46919119358062744" rpy="0.0 0.0 -1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="CounterTop_2_0"/>
  </joint>
  <link name="CounterTop_2_0">
    <visual name="CounterTop_2_0_CountertopC_10_X_10_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/CountertopC_10_X_10.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="CounterTop_2_0_CountertopC_10_X_10_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/CountertopC_10_X_10.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Fridge_2_1_joint" type="fixed">
    <origin xyz="9.01235816693306 -5.312416278839111 1.0191432237625122" 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_23_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/FridgeA_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Fridge_2_1_Fridge_23_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/FridgeA_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="HousePlant_2_2_0_joint" type="fixed">
    <origin xyz="9.186086942759715 -3.463619757630436 0.5485243797302246" rpy="0.0 0.0 1.960785984992981"/>
    <parent link="house_procthor_10k_house"/>
    <child link="HousePlant_2_2_0"/>
  </joint>
  <link name="HousePlant_2_2_0">
    <visual name="HousePlant_2_2_0_Houseplant_26_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/Houseplant_26.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="HousePlant_2_2_0_Houseplant_26_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/Houseplant_26.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="DiningTable_2_3_0_joint" type="fixed">
    <origin xyz="6.614957421339261 -4.829783830177864 0.3391079604625702" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="DiningTable_2_3_0"/>
  </joint>
  <link name="DiningTable_2_3_0">
    <visual name="DiningTable_2_3_0_DiningTable_201__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/DiningTable_201.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="DiningTable_2_3_0_DiningTable_201__1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/DiningTable_201.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="ShelvingUnit_2_4_joint" type="fixed">
    <origin xyz="4.9696034666579205 -0.19735668003559112 0.7820489406585693" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="ShelvingUnit_2_4"/>
  </joint>
  <link name="ShelvingUnit_2_4">
    <visual name="ShelvingUnit_2_4_ShelvingUnit_313__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/ShelvingUnit_313.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="ShelvingUnit_2_4_ShelvingUnit_313__1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/ShelvingUnit_313.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Stool_2_5_joint" type="fixed">
    <origin xyz="4.804649338310177 -5.539608278393745 0.2938048839569092" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Stool_2_5"/>
  </joint>
  <link name="Stool_2_5">
    <visual name="Stool_2_5_Stool_2__4_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/Stool_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Stool_2_5_Stool_2__4_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/Stool_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="TVStand_3_0_0_joint" type="fixed">
    <origin xyz="0.5758265495300294 -5.492678561329841 0.3973931074142456" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="TVStand_3_0_0"/>
  </joint>
  <link name="TVStand_3_0_0">
    <visual name="TVStand_3_0_0_TvStand_212__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/TvStand_212.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="TVStand_3_0_0_TvStand_212__1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/TvStand_212.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="DiningTable_3_1_joint" type="fixed">
    <origin xyz="0.8309229850769043 -3.100957761211048 0.40314990282058716" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="DiningTable_3_1"/>
  </joint>
  <link name="DiningTable_3_1">
    <visual name="DiningTable_3_1_DiningTable_228__1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/DiningTable_228.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="DiningTable_3_1_DiningTable_228__1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/DiningTable_228.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="SideTable_3_2_joint" type="fixed">
    <origin xyz="3.1335207983635693 -5.532812886953353 0.2818840742111206" rpy="0.0 0.0 3.1415927410125732"/>
    <parent link="house_procthor_10k_house"/>
    <child link="SideTable_3_2"/>
  </joint>
  <link name="SideTable_3_2">
    <visual name="SideTable_3_2_SideTable_220__2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/SideTable_220.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="SideTable_3_2_SideTable_220__2_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/SideTable_220.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="FloorLamp_3_3_joint" type="fixed">
    <origin xyz="0.22993096113204955 -4.216829665412823 0.9302093982696533" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="FloorLamp_3_3"/>
  </joint>
  <link name="FloorLamp_3_3">
    <visual name="FloorLamp_3_3_FloorLamp_8_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/FloorLamp_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="FloorLamp_3_3_FloorLamp_8_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/FloorLamp_8.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Sofa_3_4_joint" type="fixed">
    <origin xyz="0.4985131561756134 -1.4346250140251549 0.4085739254951477" rpy="0.0 0.0 1.5707963705062866"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Sofa_3_4"/>
  </joint>
  <link name="Sofa_3_4">
    <visual name="Sofa_3_4_RobothorSofaAlrid_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/RobothorSofaAlrid.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Sofa_3_4_RobothorSofaAlrid_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/RobothorSofaAlrid.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
  <joint name="Door_0_joint" type="fixed">
    <origin xyz="1.377865594680117 0.0 1.0534253120422363" rpy="0.0 0.0 0.0"/>
    <parent link="house_procthor_10k_house"/>
    <child link="Door_0"/>
  </joint>
  <link name="Door_0">
    <visual name="Door_0_Doorway_6_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/Doorway_6.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Door_0_Doorway_6_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/Doorway_6.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_97/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_97/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_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/Wall_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/Wall_1.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_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/Wall_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_2_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/Wall_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_97/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_97/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_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/Wall_4.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_4_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/Wall_4.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_97/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_97/meshes/stl/Wall_5.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_0_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/Wall_7_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_7_0_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/Wall_7_0.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <visual name="Wall_7_1_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/Wall_7_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_7_1_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/Wall_7_1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <visual name="Wall_7_2_visual">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/Wall_7_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </visual>
    <collision name="Wall_7_2_collision">
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="file://dataset_house_97/meshes/stl/Wall_7_2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
  </link>
</robot>