<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="KitchenClash0.urdf">
   <link name="room_link">
      <inertial>
         <origin rpy="0 0 0" xyz="0.0 0.0 0.0" />
         <mass value="1" />
         <inertia ixx="1" ixy="0.0" ixz="0.0" iyy="1" iyz="0.0" izz="1" />
      </inertial>
   </link>
   <link name="world" />
   <joint name="world_room_joint" type="fixed">
      <origin rpy="0 0 0" xyz="0.0 0.03 0.0" />
      <parent link="world" />
      <child link="room_link" />
   </joint>
   <link name="tomato" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/tomato.dae" scale="10 10 10" />
         </geometry>
      </visual>
   </link>
   <joint name="tomato_joint" type="fixed">
      <origin rpy="3.1415925132051035 0.0 0.0" xyz="-17.101 1.733 -2.17" />
      <child link="tomato" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="lettuce" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/lettuce.dae" scale="10 10 10" />
         </geometry>
      </visual>
   </link>
   <joint name="lettuce_joint" type="fixed">
      <origin rpy="-1.5707964867948967 0.0 0.0" xyz="-17.194 0.539 -1.816001" />
      <child link="lettuce" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="lemon" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/lemon.dae" scale="0.1 0.1 0.1" />
         </geometry>
      </visual>
   </link>
   <joint name="lemon_joint" type="fixed">
      <origin rpy="-1.5707964867948967 0.0 0.0" xyz="-17.081 0.539 -3.014001" />
      <child link="lemon" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="garlic" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/garlic.dae" scale="10 10 10" />
         </geometry>
      </visual>
   </link>
   <joint name="garlic_joint" type="fixed">
      <origin rpy="3.1415925132051035 0.0 0.0" xyz="-16.735 -0.596 -2.646" />
      <child link="garlic" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="fig" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/fig.dae" scale="0.05 0.05 0.05" />
         </geometry>
      </visual>
   </link>
   <joint name="fig_joint" type="fixed">
      <origin rpy="-1.5707964867948967 0.0 0.0" xyz="-16.589 -0.596 -2.309" />
      <child link="fig" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="eggplant" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/eggplant.dae" scale="10 10 10" />
         </geometry>
      </visual>
   </link>
   <joint name="eggplant_joint" type="fixed">
      <origin rpy="-1.5707964867948967 0.0 0.0" xyz="-16.492 1.733 -2.485" />
      <child link="eggplant" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="chiliPepper" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/chiliPepper.dae" scale="10 10 10" />
         </geometry>
      </visual>
   </link>
   <joint name="chiliPepper_joint" type="fixed">
      <origin rpy="-1.5707964867948967 0.0 0.0" xyz="-16.638 -0.596 -1.701" />
      <child link="chiliPepper" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="cherryRed" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/cherry.dae" scale="0.1 0.09999996 0.09999996" />
         </geometry>
      </visual>
   </link>
   <joint name="cherryRed_joint" type="fixed">
      <origin rpy="3.1419375132051037 0.0 0.0" xyz="-16.86 -0.661 -1.95" />
      <child link="cherryRed" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="cauliflower" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/cauliflower.dae" scale="10 9.999998 9.999998" />
         </geometry>
      </visual>
   </link>
   <joint name="cauliflower_joint" type="fixed">
      <origin rpy="3.1419375132051037 0.0 0.0" xyz="-16.354 0.42 -2.534" />
      <child link="cauliflower" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="broccoli" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/broccoli.dae" scale="10 10 10" />
         </geometry>
      </visual>
   </link>
   <joint name="broccoli_joint" type="fixed">
      <origin rpy="-1.5707964867948967 0.0 0.0" xyz="-16.449 0.642 -1.892001" />
      <child link="broccoli" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="bellPepperYellow" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/bellPepperOrange.dae" scale="10 9.999998 9.999998" />
         </geometry>
      </visual>
   </link>
   <joint name="bellPepperYellow_joint" type="fixed">
      <origin rpy="3.1419375132051037 0.0 0.0" xyz="-17.145 1.836 -2.796" />
      <child link="bellPepperYellow" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="bellpepperRed" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/bellPepperOrange.dae" scale="10 9.999998 9.999998" />
         </geometry>
      </visual>
   </link>
   <joint name="bellpepperRed_joint" type="fixed">
      <origin rpy="3.1419375132051037 0.0 0.0" xyz="-16.974 1.836 -3.16" />
      <child link="bellpepperRed" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="bellPepperOrange" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/bellPepperOrange.dae" scale="10 9.999998 9.999998" />
         </geometry>
      </visual>
   </link>
   <joint name="bellPepperOrange_joint" type="fixed">
      <origin rpy="3.1419375132051037 0.0 0.0" xyz="-16.764 1.836 -2.884" />
      <child link="bellPepperOrange" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="apricot" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/apricot.dae" scale="0.1 0.09999996 0.09999996" />
         </geometry>
      </visual>
   </link>
   <joint name="apricot_joint" type="fixed">
      <origin rpy="3.1419375132051037 0.0 0.0" xyz="-17.165 0.476 -2.348001" />
      <child link="apricot" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SO_Plant_02" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SO_Plant_02.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="SO_Plant_02_joint" type="fixed">
      <origin rpy="0.0 1.570796 0.0" xyz="-17.8 4.110114 8.835001" />
      <child link="SO_Plant_02" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_Plant" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_Plant.dae" scale="2 2 2" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_Plant_joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="3.065 4.08 8.524" />
      <child link="Prop_Plant" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SO_Plant_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SO_Plant_01.dae" scale="0.7 0.7 0.7" />
         </geometry>
      </visual>
   </link>
   <joint name="SO_Plant_01_joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="-17.36 1.64 -12.64" />
      <child link="SO_Plant_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_Plant_02" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_Plant.dae" scale="2 2 2" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_Plant_02_joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="-10.58 1.634 -12.7" />
      <child link="Prop_Plant_02" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SO_Plant_03" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SO_Plant_03.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="SO_Plant_03_joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="17.41157 4.035475 -27.85461" />
      <child link="SO_Plant_03" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SO_Pen_02" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SO_Pen_02.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="SO_Pen_02_joint" type="fixed">
      <origin rpy="0.0 5.759588 0.0" xyz="3.055438 0.8880001 -8.365969" />
      <child link="SO_Pen_02" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SO_Pen_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SO_Pen_01.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="SO_Pen_01_joint" type="fixed">
      <origin rpy="0.0 5.759588 0.0" xyz="3.129592 0.888 -8.303489" />
      <child link="SO_Pen_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SO_CarboardBox_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SO_CarboardBox_01.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="SO_CarboardBox_01_joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="3.084 4.087 -6.447" />
      <child link="SO_CarboardBox_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SO_Broom" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Broom.dae" scale="1.5 1.5 1.5" />
         </geometry>
      </visual>
   </link>
   <joint name="SO_Broom_joint" type="fixed">
      <origin rpy="-1.5707963267948966 0.0 6.182765" xyz="2.884468 -0.894 -3.863593" />
      <child link="SO_Broom" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SO_Boxfile_06" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SO_Boxfile_06.dae" scale="1 1 0.6263629" />
         </geometry>
      </visual>
   </link>
   <joint name="SO_Boxfile_06_joint" type="fixed">
      <origin rpy="0.0 4.712392 0.0" xyz="3.135 2.045 -8.952489" />
      <child link="SO_Boxfile_06" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SO_Boxfile_05" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SO_Boxfile_05.dae" scale="1 1 0.6263629" />
         </geometry>
      </visual>
   </link>
   <joint name="SO_Boxfile_05_joint" type="fixed">
      <origin rpy="0.0 4.712392 0.0" xyz="3.14 2.045 -8.725733" />
      <child link="SO_Boxfile_05" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SO_Boxfile_03" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SO_Boxfile_03.dae" scale="1 1 0.6263629" />
         </geometry>
      </visual>
   </link>
   <joint name="SO_Boxfile_03_joint" type="fixed">
      <origin rpy="0.0 4.712392 0.0" xyz="3.1494 2.045 -8.480217" />
      <child link="SO_Boxfile_03" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SO_Boxfile_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SO_Boxfile_01.dae" scale="1 1 0.6263629" />
         </geometry>
      </visual>
   </link>
   <joint name="SO_Boxfile_01_joint" type="fixed">
      <origin rpy="0.0 4.712392 0.0" xyz="3.1663 2.045 -8.281821" />
      <child link="SO_Boxfile_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Items_Wrench_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Items_Wrench_01.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Items_Wrench_01_joint" type="fixed">
      <origin rpy="0.0 3.141593 0.0" xyz="3.014 -0.476 -5.38" />
      <child link="Items_Wrench_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Items_Spanner_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Items_Spanner_01.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Items_Spanner_01_joint" type="fixed">
      <origin rpy="0.0 6.021386 0.0" xyz="3.122 2.068 -2.697" />
      <child link="Items_Spanner_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Items_SmartPhone_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Items_SmartPhone_01.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Items_SmartPhone_01_joint" type="fixed">
      <origin rpy="0.0 0.2277654 0.0" xyz="-11.626 1.673 -12.796" />
      <child link="Items_SmartPhone_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Items_SledgeHammer_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Items_SledgeHammer_01.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Items_SledgeHammer_01_joint" type="fixed">
      <origin rpy="1.570796 4.712389 0.0" xyz="3.218 -0.141 -7.317" />
      <child link="Items_SledgeHammer_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Items_ScrewDriver_03" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Items_ScrewDriver_03.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Items_ScrewDriver_03_joint" type="fixed">
      <origin rpy="4.712389 2.929206e-06 0.0" xyz="3.204999 2.426 -2.432045" />
      <child link="Items_ScrewDriver_03" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Items_ScrewDriver_02" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Items_ScrewDriver_02.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Items_ScrewDriver_02_joint" type="fixed">
      <origin rpy="4.712389 2.929206e-06 0.0" xyz="3.205 2.426 -2.158" />
      <child link="Items_ScrewDriver_02" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Items_ScrewDriver_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Items_ScrewDriver_01.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Items_ScrewDriver_01_joint" type="fixed">
      <origin rpy="4.712389 2.929206e-06 0.0" xyz="3.205001 2.425 -1.852913" />
      <child link="Items_ScrewDriver_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Items_Hammer_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Items_Hammer_01.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Items_Hammer_01_joint" type="fixed">
      <origin rpy="0.0 0.0 3.141593" xyz="3.12 0.917 -2.16" />
      <child link="Items_Hammer_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Items_FlashLight_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Items_FlashLight_01.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Items_FlashLight_01_joint" type="fixed">
      <origin rpy="1.570796 0.0 0.0" xyz="3.027 2.113 -4.699" />
      <child link="Items_FlashLight_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Items_Drill_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Items_Drill_01.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Items_Drill_01_joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="3.233 1.195 -2.635" />
      <child link="Items_Drill_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Items_CrowBar_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Items_CrowBar_01.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Items_CrowBar_01_joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="3.115 -0.233 -2.41" />
      <child link="Items_CrowBar_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="scp_mw_knife_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/scp_mw_knife_01.dae" scale="1.5 1.5 1.5" />
         </geometry>
      </visual>
   </link>
   <joint name="scp_mw_knife_01_joint" type="fixed">
      <origin rpy="0.0 3.141593 3.141593" xyz="-18.216 3.638 8.068602" />
      <child link="scp_mw_knife_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="scp_mw_rolling_pin" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/scp_mw_rolling_pin.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="scp_mw_rolling_pin_joint" type="fixed">
      <origin rpy="1.570796 0.0 0.0" xyz="-17.218 -0.445 1.368" />
      <child link="scp_mw_rolling_pin" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="scp_mw_cleaver_knife_02" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/scp_mw_cleaver_knife_02.dae" scale="1.5 1.5 1.5" />
         </geometry>
      </visual>
   </link>
   <joint name="scp_mw_cleaver_knife_02_joint" type="fixed">
      <origin rpy="0.0 0.0 3.141593" xyz="-18.20407 3.65 8.952" />
      <child link="scp_mw_cleaver_knife_02" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="scp_mw_kitchen_turner" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/scp_mw_kitchen_turner.dae" scale="1.5 1.5 1.5" />
         </geometry>
      </visual>
   </link>
   <joint name="scp_mw_kitchen_turner_joint" type="fixed">
      <origin rpy="1.570796 1.570796 0.0" xyz="-18.19057 3.614 9.892" />
      <child link="scp_mw_kitchen_turner" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="scp_mw_kitchen_fork" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/scp_mw_kitchen_fork.dae" scale="1.5 1.5 1.5" />
         </geometry>
      </visual>
   </link>
   <joint name="scp_mw_kitchen_fork_joint" type="fixed">
      <origin rpy="1.570796 1.570796 0.0" xyz="-18.25584 3.641 9.529" />
      <child link="scp_mw_kitchen_fork" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="scp_mw_flyswatter_02" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/scp_mw_flyswatter_01.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="scp_mw_flyswatter_02_joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="3.023543 -0.3076015 -8.394" />
      <child link="scp_mw_flyswatter_02" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="scp_mw_flyswatter_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/scp_mw_flyswatter_01.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="scp_mw_flyswatter_01_joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="3.163 -0.286 -8.394" />
      <child link="scp_mw_flyswatter_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="scp_mw_fire_poker" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/scp_mw_fire_poker.dae" scale="2 2 2" />
         </geometry>
      </visual>
   </link>
   <joint name="scp_mw_fire_poker_joint" type="fixed">
      <origin rpy="4.097819e-07 4.712386 3.213942" xyz="3.139 -0.07 -17.599" />
      <child link="scp_mw_fire_poker" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="scp_mw_baseball_bat_02" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/scp_mw_baseball_bat_01.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="scp_mw_baseball_bat_02_joint" type="fixed">
      <origin rpy="1.570796 6.108834 0.0" xyz="3.257 3.364 -9.292" />
      <child link="scp_mw_baseball_bat_02" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="scp_mw_knife_01__1_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/scp_mw_knife_01.dae" scale="1.25 1.25 1.25" />
         </geometry>
      </visual>
   </link>
   <joint name="scp_mw_knife_01__1__joint" type="fixed">
      <origin rpy="0.0 3.141593 3.141593" xyz="-18.216 3.686 8.407" />
      <child link="scp_mw_knife_01__1_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="scp_mw_axe" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/scp_mw_axe.dae" scale="0.9999999 1 0.9999999" />
         </geometry>
      </visual>
   </link>
   <joint name="scp_mw_axe_joint" type="fixed">
      <origin rpy="6.021389 4.712389 4.712389" xyz="3.202 0.24 -6.187" />
      <child link="scp_mw_axe" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SO_RubixCube" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Cube.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="SO_RubixCube_joint" type="fixed">
      <origin rpy="0 0 0" xyz="3.023 1.677 -6.291" />
      <child link="SO_RubixCube" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="scp_mw_knife_01__2_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/scp_mw_knife_01.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="scp_mw_knife_01__2__joint" type="fixed">
      <origin rpy="0.0 3.141593 3.141593" xyz="-18.216 3.723 8.699" />
      <child link="scp_mw_knife_01__2_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Wall_Window_01_Blue" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Wall_Window_01_Blue.dae" scale="1 1.37582 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Wall_Window_01_Blue_joint" type="fixed">
      <origin rpy="0.0 4.712389 0.0" xyz="19.055 -0.692461 8.61" />
      <child link="Wall_Window_01_Blue" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Wall_01_Blue" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Wall_01_Blue.dae" scale="0.9836292 1.37582 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Wall_01_Blue_joint" type="fixed">
      <origin rpy="0.0 4.712389 0.0" xyz="19.055 -0.692461 3.6267" />
      <child link="Wall_01_Blue" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Door_02" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Door.dae" scale="1.5 1.5 1.5" />
         </geometry>
      </visual>
   </link>
   <joint name="Door_02_joint" type="fixed">
      <origin rpy="0.0 0.6108651 0.0" xyz="3.702 -1.045 3.05" />
      <child link="Door_02" />
      <parent link="room_link" />
      <axis xyz="0 1 0" />
      <limit effort="300" lower="-3.141593" upper="1.570796" velocity="10" />
   </joint>
   <link name="Door_02__1_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Door.dae" scale="1.5 1.5 1.5" />
         </geometry>
      </visual>
   </link>
   <joint name="Door_02__1__joint" type="fixed">
      <origin rpy="0.0 6.002188 0.0" xyz="3.702 -1.045 -11.03" />
      <child link="Door_02__1_" />
      <parent link="room_link" />
      <axis xyz="0 1 0" />
      <limit effort="300" lower="-1.815142" upper="1.570796" velocity="10" />
   </joint>
   <link name="SI_Env_Wall_01__1_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SI_Env_Wall_01.dae" scale="1.500001 1.375823 1.500001" />
         </geometry>
      </visual>
   </link>
   <joint name="SI_Env_Wall_01__1__joint" type="fixed">
      <origin rpy="0.0 4.712389 0.0" xyz="3.444 -0.573 -2.16" />
      <child link="SI_Env_Wall_01__1_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SI_Env_Wall_01__2_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SI_Env_Wall_01.dae" scale="2.486224 1.375823 1.500001" />
         </geometry>
      </visual>
   </link>
   <joint name="SI_Env_Wall_01__2__joint" type="fixed">
      <origin rpy="0.0 4.712389 0.0" xyz="3.444 -0.573 -16.26" />
      <child link="SI_Env_Wall_01__2_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SI_Env_Wall_Door_Small_01__1_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Door.dae" scale="1.500001 1.375823 1.500001" />
         </geometry>
      </visual>
   </link>
   <joint name="SI_Env_Wall_Door_Small_01__1__joint" type="fixed">
      <origin rpy="0.0 4.712389 0.0" xyz="3.444 -0.573 -8.77" />
      <child link="SI_Env_Wall_Door_Small_01__1_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
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   <link name="Floor_Wood__5_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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            <mesh filename="package://h_neem/meshes/final_collada_meshes/Floor_Wood.dae" scale="1 1 1" />
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   <joint name="Floor_Wood__5__joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="11.06 -0.9189987 -16.55999" />
      <child link="Floor_Wood__5_" />
      <parent link="room_link" />
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   <link name="Floor_Wood__6_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
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            <mesh filename="package://h_neem/meshes/final_collada_meshes/Floor_Wood.dae" scale="1 1 1" />
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   <joint name="Floor_Wood__6__joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="11.06 -0.9190006 -21.56001" />
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   <link name="Floor_Wood__7_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
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            <mesh filename="package://h_neem/meshes/final_collada_meshes/Floor_Wood.dae" scale="1 1 1" />
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   <joint name="Floor_Wood__7__joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="11.06 -0.9190044 -26.56002" />
      <child link="Floor_Wood__7_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
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   <link name="Floor_Wood__8_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Floor_Wood.dae" scale="1 1 1" />
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   <joint name="Floor_Wood__8__joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="16.06 -0.9190025 -11.55999" />
      <child link="Floor_Wood__8_" />
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      <axis xyz="0 0 0" />
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   <link name="Floor_Wood__9_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
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      <origin rpy="0.0 0.0 0.0" xyz="16.06 -0.9189987 -16.56" />
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   <link name="Floor_Wood__10_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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         <origin rpy="0 0 0" xyz="0 0 0" />
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      <origin rpy="0.0 0.0 0.0" xyz="16.06 -0.9190006 -21.56002" />
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      <sphere_inertia mass="0" radius="0" />
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         <origin rpy="0 0 0" xyz="0 0 0" />
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            <mesh filename="package://h_neem/meshes/final_collada_meshes/Floor_Wood.dae" scale="1 1 1" />
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      <origin rpy="0.0 0.0 0.0" xyz="16.06 -0.9190044 -26.56002" />
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         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_Curtains_Red.dae" scale="3 3 3" />
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      <origin rpy="0.0 0.0 0.0" xyz="9.639999 4.589972 -28.52002" />
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         <origin rpy="0 0 0" xyz="0 0 0" />
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            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_Curtains_Red.dae" scale="3.750006 3 2.999996" />
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      <origin rpy="-2.107354e-07 4.712392 7.164959e-07" xyz="18.78 5.799974 -20.82001" />
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      <axis xyz="0 0 0" />
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         <origin rpy="0 0 0" xyz="0 0 0" />
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            <mesh filename="package://h_neem/meshes/final_collada_meshes/SO_Rug_01.dae" scale="1.000001 1 1.000001" />
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      <origin rpy="0.0 1.570796 0.0" xyz="11.038 -0.9190006 -21.173" />
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      <axis xyz="0 0 0" />
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         <origin rpy="0 0 0" xyz="0 0 0" />
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      <origin rpy="0.0 4.712389 0.0" xyz="3.057002 3.35026 7.36" />
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      <axis xyz="0 0 0" />
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         <origin rpy="0 0 0" xyz="0 0 0" />
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            <mesh filename="package://h_neem/meshes/final_collada_meshes/Refridgerator_Empty.dae" scale="100 100 100" />
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      <origin rpy="0 1.570796 0" xyz="-16.94 1.72 -2.190002" />
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         <origin rpy="0 0 0" xyz="0 0 0" />
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            <mesh filename="package://h_neem/meshes/final_collada_meshes/Cube.dae" scale="0.08091746 5.288775 2.268258" />
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      <child link="Cube" />
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      <sphere_inertia mass="0" radius="0" />
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         <origin rpy="0 0 0" xyz="0 0 0" />
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         <origin rpy="0 0 0" xyz="0 0 0" />
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      <origin rpy="0 1.570796 0" xyz="-17.018 4.3293 -2.178802" />
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   <link name="Cube__3_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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         <origin rpy="0 0 0" xyz="0 0 0" />
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         <origin rpy="0 0 0" xyz="0 0 0" />
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      <origin rpy="0 1.570796 0" xyz="-17.01801 -0.832 -2.178806" />
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         <origin rpy="0 0 0" xyz="0 0 0" />
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   <link name="Cube__6_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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         <origin rpy="0 0 0" xyz="0 0 0" />
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   <link name="Cube__7_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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         <origin rpy="0 0 0" xyz="0 0 0" />
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   <link name="Refridgerator_UpperDrawer" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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         <origin rpy="0 0 0" xyz="0 0 0" />
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            <mesh filename="package://h_neem/meshes/final_collada_meshes/Refridgerator_UpperDrawer.dae" scale="100.0001 100 100.0001" />
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      <axis xyz="0 0 0" />
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   <link name="Cube_32948" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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         <origin rpy="0 0 0" xyz="0 0 0" />
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         <origin rpy="0 0 0" xyz="0 0 0" />
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      <axis xyz="0 0 0" />
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      <axis xyz="0 0 0" />
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   <link name="Sink_Drawer1" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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      <visual>
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   <joint name="Cube_26708_joint" type="fixed">
      <origin rpy="0 0 0" xyz="-14.91801 0.501 9.130997" />
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      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Sink1_DoorR" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Sink1_DoorR.dae" scale="100.0003 99.99999 100.0003" />
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   <joint name="Sink1_DoorR_joint" type="fixed">
      <origin rpy="0 3.141593 0" xyz="-11.01 0.56 10.1" />
      <child link="Sink1_DoorR" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Cube_25831" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Cube.dae" scale="1.484452 2.84642 0.1368902" />
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   <joint name="Cube_25831_joint" type="fixed">
      <origin rpy="0 3.141593 0" xyz="-13.39381 0.505 9.138998" />
      <child link="Cube_25831" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Sink1_SinkDoor" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Sink1_SinkDoor.dae" scale="100.0003 82.0691 100.0003" />
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      </visual>
   </link>
   <joint name="Sink1_SinkDoor_joint" type="fixed">
      <origin rpy="0 3.141593 0" xyz="-11.01 0.29063 10.1" />
      <child link="Sink1_SinkDoor" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Cube_84538" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
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            <mesh filename="package://h_neem/meshes/final_collada_meshes/Cube.dae" scale="1.484451 2.336031 0.1368901" />
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   <joint name="Cube_84538_joint" type="fixed">
      <origin rpy="0 3.141593 0" xyz="-8.610298 0.24633 9.129999" />
      <child link="Cube_84538" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
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   <link name="Sink1_OvenDoor" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Sink1_OvenDoor.dae" scale="100.0006 99.99998 100.0006" />
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      </visual>
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   <joint name="Sink1_OvenDoor_joint" type="fixed">
      <origin rpy="0 3.141593 0" xyz="-11.01 0.5599999 10.1" />
      <child link="Sink1_OvenDoor" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
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   <link name="Cube_76554" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
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         <origin rpy="0 0 0" xyz="0 0 0" />
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            <mesh filename="package://h_neem/meshes/final_collada_meshes/Cube.dae" scale="3.139006 2.084798 0.1368901" />
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   <joint name="Cube_76554_joint" type="fixed">
      <origin rpy="0 3.141593 0" xyz="-11.016 0.1003999 9.139998" />
      <child link="Cube_76554" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
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   <link name="Cube__4__49218" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
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      <origin rpy="0 1.570796 0" xyz="-10.9812 -0.862 10.1388" />
      <child link="Cube__4__49218" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
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   <link name="Cube__5__40000" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
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      <origin rpy="0 1.570796 0" xyz="-15.61611 0.5071 10.1388" />
      <child link="Cube__5__40000" />
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   <link name="Cube__6__94674" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
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      <origin rpy="0 1.570796 0" xyz="-14.17001 0.5071 10.139" />
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      <axis xyz="0 0 0" />
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   <link name="Cube__7__17810" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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      <origin rpy="0 1.570796 0" xyz="-12.6616 0.5071 10.139" />
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   <link name="Cube__8_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
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      <origin rpy="0 1.570796 0" xyz="-9.369199 0.5071 10.139" />
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      <axis xyz="0 0 0" />
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   <link name="Cube__9_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
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            <mesh filename="package://h_neem/meshes/final_collada_meshes/Cube.dae" scale="2.155004 2.84293 0.1333003" />
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   <joint name="Cube__9__joint" type="fixed">
      <origin rpy="0 1.570796 0" xyz="-6.354995 0.5071 10.14" />
      <child link="Cube__9_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
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      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
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   <joint name="Cube__10__joint" type="fixed">
      <origin rpy="0 1.570796 0" xyz="-7.849197 0.2898 10.139" />
      <child link="Cube__10_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
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   <link name="Cube__11_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
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      <origin rpy="0 1.570796 0" xyz="-12.4913 1.986 10.1388" />
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      <parent link="room_link" />
      <axis xyz="0 0 0" />
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   <link name="Cube__12_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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         <origin rpy="0 0 0" xyz="0 0 0" />
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      <origin rpy="0 1.570796 0" xyz="-10.981 0.5684 11.166" />
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      <parent link="room_link" />
      <axis xyz="0 0 0" />
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   <link name="Cube__13_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
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      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
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            <mesh filename="package://h_neem/meshes/final_collada_meshes/Cube.dae" scale="2.154994 0.10468 3.044195" />
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   <joint name="Cube__13__joint" type="fixed">
      <origin rpy="0 1.570796 0" xyz="-7.810497 1.466 10.1388" />
      <child link="Cube__13_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
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   <link name="Bookshelf__2_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Bookshelf.dae" scale="75.00002 75 75.00002" />
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      </visual>
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   <joint name="Bookshelf__2__joint" type="fixed">
      <origin rpy="3.141592573589793 1.57079609 3.141592653589793" xyz="-1115.949629 90.783296 1442.570661" />
      <child link="Bookshelf__2_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
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   <link name="appleGreen" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/appleGreen.dae" scale="0.1 0.1 0.09999999" />
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   <joint name="appleGreen_joint" type="fixed">
      <origin rpy="3.1415925132051035 0.0 0.0" xyz="-17.335 2.456 3.513999" />
      <child link="appleGreen" />
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      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
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      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/radish.dae" scale="8.000001 8.000002 8.000001" />
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      <origin rpy="3.1415925132051035 0.0 0.0" xyz="-17.52 2.87 9.940001" />
      <child link="radish" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
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   <link name="cucumber" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/cucumber.dae" scale="10 10 10" />
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   <joint name="cucumber_joint" type="fixed">
      <origin rpy="3.1415925132051035 0.0 0.0" xyz="-16.655 1.809 -1.551002" />
      <child link="cucumber" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
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   <link name="banana" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/banana.dae" scale="0.1 0.1 0.09999999" />
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   <joint name="banana_joint" type="fixed">
      <origin rpy="3.1415925132051035 0.0 0.0" xyz="-17.828 2.896 -0.3220019" />
      <child link="banana" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
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   <link name="potatoYellow" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/potatoBrown.dae" scale="10 10 10" />
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   <joint name="potatoYellow_joint" type="fixed">
      <origin rpy="3.1415925132051035 0.0 0.0" xyz="-16.662 2.337 10.023" />
      <child link="potatoYellow" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
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   <link name="pawpaw" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/pawpaw.dae" scale="0.1 0.1 0.09999999" />
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   <joint name="pawpaw_joint" type="fixed">
      <origin rpy="3.1415925132051035 0.0 0.0" xyz="-17.197 2.615 1.050998" />
      <child link="pawpaw" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
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   <link name="appleRed" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/appleRed.dae" scale="0.1 0.1 0.09999999" />
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   <joint name="appleRed_joint" type="fixed">
      <origin rpy="3.1415925132051035 0.0 0.0" xyz="-17.12 2.456 4.069999" />
      <child link="appleRed" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
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   <link name="appleGreen__1_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/appleGreen.dae" scale="0.1 0.1 0.09999999" />
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   <joint name="appleGreen__1__joint" type="fixed">
      <origin rpy="3.1415925132051035 0.0 0.0" xyz="-17.665 2.456 4.159999" />
      <child link="appleGreen__1_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
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   <link name="radish__1_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/radish.dae" scale="8.000001 8.000002 8.000001" />
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   <joint name="radish__1__joint" type="fixed">
      <origin rpy="3.1415925132051035 0.0 0.0" xyz="-17.271 2.87 9.940001" />
      <child link="radish__1_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
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   <link name="potatoYellow__1_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/potatoBrown.dae" scale="10 9.99999 9.999988" />
         </geometry>
      </visual>
   </link>
   <joint name="potatoYellow__1__joint" type="fixed">
      <origin rpy="3.1415925132051035 0.0 0.0" xyz="-16.461 2.337 10.235" />
      <child link="potatoYellow__1_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
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   <link name="radish__2_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/radish.dae" scale="8.000001 8.000002 8.000001" />
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      </visual>
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   <joint name="radish__2__joint" type="fixed">
      <origin rpy="3.1415925132051035 0.0 0.0" xyz="-17.271 2.87 9.681" />
      <child link="radish__2_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="carrot" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/carrot.dae" scale="10 10 10" />
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      </visual>
   </link>
   <joint name="carrot_joint" type="fixed">
      <origin rpy="-1.5707965165972166 0.0 0.0" xyz="-17.333 3.151 2.225998" />
      <child link="carrot" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Saucer" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SM_Saucer.dae" scale="5.000001 5.000003 5.000002" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Saucer_joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-2.66 -0.3950043 9.659996" />
      <child link="SM_Saucer" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Saucer__1_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SM_Saucer.dae" scale="5.000001 5.000006 5.000005" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Saucer__1__joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-2.66 -0.1549988 9.659996" />
      <child link="SM_Saucer__1_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Saucer__2_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SM_Saucer.dae" scale="5.000001 5.000006 5.000005" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Saucer__2__joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-2.66 0.1450043 9.659996" />
      <child link="SM_Saucer__2_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Saucer__3_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SM_Saucer.dae" scale="5.000001 5.000006 5.000005" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Saucer__3__joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-2.66 0.3450012 9.659996" />
      <child link="SM_Saucer__3_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Plate_Classic_26cm" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SM_Plate_Classic_26cm.dae" scale="5.000001 5.000003 5.000002" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Plate_Classic_26cm_joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-2.668575 1.020004 9.868156" />
      <child link="SM_Plate_Classic_26cm" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Plate_Classic_26cm__1_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SM_Plate_Classic_26cm.dae" scale="5.000001 5.000006 5.000005" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Plate_Classic_26cm__1__joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-2.668575 1.315002 9.868156" />
      <child link="SM_Plate_Classic_26cm__1_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Plate_Classic_26cm__2_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SM_Plate_Classic_26cm.dae" scale="5.000001 5.000006 5.000005" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Plate_Classic_26cm__2__joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-2.668575 1.639999 9.868156" />
      <child link="SM_Plate_Classic_26cm__2_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Plate_Classic_26cm__3_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SM_Plate_Classic_26cm.dae" scale="5.000001 5.000006 5.000005" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Plate_Classic_26cm__3__joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-2.668575 1.914993 9.868156" />
      <child link="SM_Plate_Classic_26cm__3_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Plate_Classic_21cm" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SM_Plate_Classic_21cm.dae" scale="5.000001 5.000003 5.000002" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Plate_Classic_21cm_joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-1.125576 1.229996 9.605" />
      <child link="SM_Plate_Classic_21cm" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Plate_Classic_21cm__1_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SM_Plate_Classic_21cm.dae" scale="5.000001 5.000006 5.000005" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Plate_Classic_21cm__1__joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-1.125576 1.544998 9.605" />
      <child link="SM_Plate_Classic_21cm__1_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Plate_Classic_21cm__2_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SM_Plate_Classic_21cm.dae" scale="5.000001 5.000006 5.000005" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Plate_Classic_21cm__2__joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-1.125576 1.789993 9.605" />
      <child link="SM_Plate_Classic_21cm__2_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Plate_Classic_21cm__3_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SM_Plate_Classic_21cm.dae" scale="5.000001 5.000006 5.000005" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Plate_Classic_21cm__3__joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-1.125576 2.080002 9.605" />
      <child link="SM_Plate_Classic_21cm__3_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Plate_Classic_16cm" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SM_Plate_Classic_16cm.dae" scale="5.000001 5.000003 5.000002" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Plate_Classic_16cm_joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-1.125576 2.839996 9.749996" />
      <child link="SM_Plate_Classic_16cm" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Plate_Classic_16cm__1_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SM_Plate_Classic_16cm.dae" scale="5.000001 5.000006 5.000005" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Plate_Classic_16cm__1__joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-1.125576 3.070007 9.749996" />
      <child link="SM_Plate_Classic_16cm__1_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Plate_Classic_16cm__2_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SM_Plate_Classic_16cm.dae" scale="5.000001 5.000006 5.000005" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Plate_Classic_16cm__2__joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-1.125576 3.285004 9.749996" />
      <child link="SM_Plate_Classic_16cm__2_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Plate_Classic_16cm__3_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SM_Plate_Classic_16cm.dae" scale="5.000001 5.000006 5.000005" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Plate_Classic_16cm__3__joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-1.125576 3.535004 9.749996" />
      <child link="SM_Plate_Classic_16cm__3_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Bowl_Small" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Bowl.dae" scale="5.000001 5.000003 5.000002" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Bowl_Small_joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-1.385574 4.405502 -28.569256000000003" />
      <child link="SM_Bowl_Small" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Bowl_Small__1_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Bowl.dae" scale="5.000001 5.000006 5.000005" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Bowl_Small__1__joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-1.385574 4.880005 -28.569256000000003" />
      <child link="SM_Bowl_Small__1_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Bowl_Small__2_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Bowl.dae" scale="5.000001 5.000006 5.000005" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Bowl_Small__2__joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-0.7055731 4.405502 -28.569255000000002" />
      <child link="SM_Bowl_Small__2_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Bowl_Small__3_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Bowl.dae" scale="5.000001 5.000006 5.000005" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Bowl_Small__3__joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-0.7055731 4.880005 -28.569255000000002" />
      <child link="SM_Bowl_Small__3_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Bowl" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Bowl.dae" scale="5.000001 5.000003 5.000002" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Bowl_joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="0.5294275 2.816498 -28.449757" />
      <child link="SM_Bowl" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Bowl__1_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Bowl.dae" scale="5.000001 5.000006 5.000005" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Bowl__1__joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="0.5294275 3.315002 -28.449757" />
      <child link="SM_Bowl__1_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Bowl__2_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Bowl.dae" scale="5.000001 5.000006 5.000005" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Bowl__2__joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-2.850574 2.816498 -28.449757" />
      <child link="SM_Bowl__2_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_Bowl__3_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Bowl.dae" scale="5.000001 5.000006 5.000005" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_Bowl__3__joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-2.850574 3.315002 -28.449757" />
      <child link="SM_Bowl__3_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="BoxshelfModel" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Boxshelf.dae" scale="150.0001 150 150.0001" />
         </geometry>
      </visual>
   </link>
   <joint name="BoxshelfModel_joint" type="fixed">
      <origin rpy="3.141592573589793 3.14159209 3.141592653589793" xyz="952.5484102 141.70414300000002 1784.7624070000002" />
      <child link="BoxshelfModel" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Upper" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Boxshelf.dae" scale="150.0001 150.0001 150.0001" />
         </geometry>
      </visual>
   </link>
   <joint name="Upper_joint" type="fixed">
      <origin rpy="3.141592573589793 3.14159209 6.283185653589793" xyz="951.5734090000001 144.41464200000001 1784.7624070000002" />
      <child link="Upper" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SM_TraySet_Mid" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SM_TraySet_Mid.dae" scale="7.000002 7.000005 7.000003" />
         </geometry>
      </visual>
   </link>
   <joint name="SM_TraySet_Mid_joint" type="fixed">
      <origin rpy="4.712389 0.0 0.0" xyz="-1.002998 6.078 9.972" />
      <child link="SM_TraySet_Mid" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Trashcan1" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Trash.dae" scale="1.500001 1.500002 1.500001" />
         </geometry>
      </visual>
   </link>
   <joint name="Trashcan1_joint" type="fixed">
      <origin rpy="7.8539815735897935 8.999999999999976e-08 3.141592653589793" xyz="-268.69395399999996 87.856229 853.505878" />
      <child link="Trashcan1" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Trashcan1Cap" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Trash.dae" scale="1.343966 1.343967 1.343966" />
         </geometry>
      </visual>
   </link>
   <joint name="Trashcan1Cap_joint" type="fixed">
      <origin rpy="7.8539815735897935 8.999999999999976e-08 3.141592653589793" xyz="-268.696583 90.248729 853.509905" />
      <child link="Trashcan1Cap" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Floor_Carpet_Tiles" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Floor_Carpet_Tiles.dae" scale="0.5720068 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Floor_Carpet_Tiles_joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="-17.37 -0.919 -1.100002" />
      <child link="Floor_Carpet_Tiles" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Floor_Carpet_Tiles__1_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Floor_Carpet_Tiles.dae" scale="0.5720069 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Floor_Carpet_Tiles__1__joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="-17.37 -0.919 3.899999" />
      <child link="Floor_Carpet_Tiles__1_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Floor_Carpet_Tiles__2_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Floor_Carpet_Tiles.dae" scale="0.5720069 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Floor_Carpet_Tiles__2__joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="-17.37 -0.919 8.9" />
      <child link="Floor_Carpet_Tiles__2_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Floor_Carpet_Tiles__3_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Floor_Carpet_Tiles.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Floor_Carpet_Tiles__3__joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="-13.44 -0.919 -1.1" />
      <child link="Floor_Carpet_Tiles__3_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Floor_Carpet_Tiles__4_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Floor_Carpet_Tiles.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Floor_Carpet_Tiles__4__joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="-13.44 -0.919 3.9" />
      <child link="Floor_Carpet_Tiles__4_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Floor_Carpet_Tiles__5_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Floor_Carpet_Tiles.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Floor_Carpet_Tiles__5__joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="-13.44001 -0.919 8.900002" />
      <child link="Floor_Carpet_Tiles__5_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Floor_Carpet_Tiles__6_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Floor_Carpet_Tiles.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Floor_Carpet_Tiles__6__joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="-8.440003 -0.919 -1.100001" />
      <child link="Floor_Carpet_Tiles__6_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Floor_Carpet_Tiles__7_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Floor_Carpet_Tiles.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Floor_Carpet_Tiles__7__joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="-8.440003 -0.919 3.899999" />
      <child link="Floor_Carpet_Tiles__7_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Floor_Carpet_Tiles__8_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Floor_Carpet_Tiles.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Floor_Carpet_Tiles__8__joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="-8.440004 -0.919 8.900002" />
      <child link="Floor_Carpet_Tiles__8_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_shelf_01__1_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_shelf_01.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_shelf_01__1__joint" type="fixed">
      <origin rpy="0.0 4.712389 0.0" xyz="3.060003 3.35026 -5.55" />
      <child link="Prop_shelf_01__1_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Table" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Table.dae" scale="100.0002 100 100.0002" />
         </geometry>
      </visual>
   </link>
   <joint name="Table_joint" type="fixed">
      <origin rpy="3.141592573589793 1.57079609 3.141592653589793" xyz="382.593279 223.719047 606.410477" />
      <child link="Table" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Chair" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Chair.dae" scale="100.0002 100 100.0002" />
         </geometry>
      </visual>
   </link>
   <joint name="Chair_joint" type="fixed">
      <origin rpy="-3.1415890335897934 1.5707959100000002 3.141592653589793" xyz="-458.40972999999997 173.581558 876.7771290000001" />
      <child link="Chair" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Chair__1_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Chair.dae" scale="100.0002 100 100.0002" />
         </geometry>
      </visual>
   </link>
   <joint name="Chair__1__joint" type="fixed">
      <origin rpy="-3.1415890335897934 1.5707959100000002 3.141592653589793" xyz="-458.40972999999997 173.581558 873.749128" />
      <child link="Chair__1_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Chair__2_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Chair.dae" scale="100.0002 100 100.0002" />
         </geometry>
      </visual>
   </link>
   <joint name="Chair__2__joint" type="fixed">
      <origin rpy="-3.1415890335897934 4.71238891 3.141592653589793" xyz="-463.76973 173.581558 876.7771290000001" />
      <child link="Chair__2_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Chair__3_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Chair.dae" scale="100.0002 100 100.0002" />
         </geometry>
      </visual>
   </link>
   <joint name="Chair__3__joint" type="fixed">
      <origin rpy="-3.1415890335897934 4.71238891 3.141592653589793" xyz="-463.76973 173.581558 873.749128" />
      <child link="Chair__3_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Sofa.1" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Sofa.1.dae" scale="100.0001 100 100.0001" />
         </geometry>
      </visual>
   </link>
   <joint name="Sofa.1_joint" type="fixed">
      <origin rpy="0 3.141593 0" xyz="-7.56 0.28 -14.73" />
      <child link="Sofa.1" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_Curtains_Blue" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_Curtains_Blue.dae" scale="3 3 3" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_Curtains_Blue_joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="-2.48 -3.415 -28.52" />
      <child link="Prop_Curtains_Blue" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_Curtains_Blue__1_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_Curtains_Blue.dae" scale="3 3 3" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_Curtains_Blue__1__joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="-12.51 -3.415 -28.52" />
      <child link="Prop_Curtains_Blue__1_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_Cupboard_03" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_Cupboard_03.dae" scale="2 2 2" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_Cupboard_03_joint" type="fixed">
      <origin rpy="0.0 1.570796 0.0" xyz="-17.51 -0.919 -23.893" />
      <child link="Prop_Cupboard_03" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_Bonzai" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_Bonzai.dae" scale="2 2 2" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_Bonzai_joint" type="fixed">
      <origin rpy="0.0 1.570796 0.0" xyz="-17.714 2.42 -23.86" />
      <child link="Prop_Bonzai" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_Big_Clock" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_Big_Clock.dae" scale="2 2 2" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_Big_Clock_joint" type="fixed">
      <origin rpy="0.0 4.712389 0.0" xyz="2.39 -0.919 -24.21" />
      <child link="Prop_Big_Clock" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_Curtains_Blue__2_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_Curtains_Blue.dae" scale="3.000001 3 3.000001" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_Curtains_Blue__2__joint" type="fixed">
      <origin rpy="0.0 1.570796 0.0" xyz="-18.17 -3.415 -17.66" />
      <child link="Prop_Curtains_Blue__2_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_Curtains_Blue__3_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_Curtains_Blue.dae" scale="3.000003 3 3.000003" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_Curtains_Blue__3__joint" type="fixed">
      <origin rpy="0.0 1.570796 0.0" xyz="-18.17 -3.415 -7.8" />
      <child link="Prop_Curtains_Blue__3_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_Rug_03" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_Rug_03.dae" scale="2 2 2" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_Rug_03_joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="-7.422 -0.99 -27.518" />
      <child link="Prop_Rug_03" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_Fireplace_02" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_Fireplace_02.dae" scale="2 2 2" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_Fireplace_02_joint" type="fixed">
      <origin rpy="0.0 4.712389 0.0" xyz="2.52 -0.95 -20.61" />
      <child link="Prop_Fireplace_02" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_Speaker_02" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/pea.dae" scale="2 2 2" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_Speaker_02_joint" type="fixed">
      <origin rpy="-1.5707964867948967 0.7853981 0.0" xyz="-17.14 -0.919 -27.5" />
      <child link="Prop_Speaker_02" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_WallArt_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_WallArt_01.dae" scale="1.75 1.75 1.75" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_WallArt_01_joint" type="fixed">
      <origin rpy="0.0 4.712389 0.0" xyz="3.406 3.93 -20.639" />
      <child link="Prop_WallArt_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_Speaker_02__1_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/pea.dae" scale="2 2 2" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_Speaker_02__1__joint" type="fixed">
      <origin rpy="-1.5707964867948967 5.497787 0.0" xyz="2.58 -0.919 -27.5" />
      <child link="Prop_Speaker_02__1_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_WallArt_02" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_WallArt_02.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_WallArt_02_joint" type="fixed">
      <origin rpy="0.0 4.712389 0.0" xyz="3.406 3.5 -22.302" />
      <child link="Prop_WallArt_02" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_WallArt_03" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_WallArt_03.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_WallArt_03_joint" type="fixed">
      <origin rpy="0.0 4.712389 0.0" xyz="3.406 4.32 -18.934" />
      <child link="Prop_WallArt_03" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_Bar_Bench" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_Bar_Bench.dae" scale="2 1.5 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_Bar_Bench_joint" type="fixed">
      <origin rpy="0.0 3.141593 0.0" xyz="-14.37 -0.919 -12.77" />
      <child link="Prop_Bar_Bench" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_Shelf_011__2_" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_Shelf_011.dae" scale="2 2 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_Shelf_011__2__joint" type="fixed">
      <origin rpy="0.0 4.712389 0.0" xyz="3.16 -0.919 -8.66" />
      <child link="Prop_Shelf_011__2_" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Floor_Carpet_Grey" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Floor_Carpet_Grey.dae" scale="4.43609 1 8.024519" />
         </geometry>
      </visual>
   </link>
   <joint name="Floor_Carpet_Grey_joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="3.577 -0.91956 11.534" />
      <child link="Floor_Carpet_Grey" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_Shelf_011" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_Shelf_011.dae" scale="2 2 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_Shelf_011_joint" type="fixed">
      <origin rpy="0.0 4.712389 0.0" xyz="3.16 -0.919 -2.4" />
      <child link="Prop_Shelf_011" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="scp_mw_knife_01__2__50266" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/scp_mw_knife_01.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="scp_mw_knife_01__2__50266_joint" type="fixed">
      <origin rpy="6.258488e-07 1.837422 1.570794" xyz="-17.627 2.183 8.666" />
      <child link="scp_mw_knife_01__2__50266" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SO_Pinboard_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SO_Pinboard_01.dae" scale="0.7912513 0.5145863 0.7" />
         </geometry>
      </visual>
   </link>
   <joint name="SO_Pinboard_01_joint" type="fixed">
      <origin rpy="0.0 4.712387 0.0" xyz="3.389 2.333 7.341" />
      <child link="SO_Pinboard_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SO_Papers_03" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SO_Papers_03.dae" scale="0.8 0.8 0.8" />
         </geometry>
      </visual>
   </link>
   <joint name="SO_Papers_03_joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="3.126 0.855 -8.923" />
      <child link="SO_Papers_03" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_Shelf_04" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_Shelf_04.dae" scale="1 1 1" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_Shelf_04_joint" type="fixed">
      <origin rpy="0.0 4.712389 0.0" xyz="3.060003 -0.919 -5.55" />
      <child link="Prop_Shelf_04" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Floor_Vinyl" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Floor_Vinyl.dae" scale="2.483194 2.5 3.104595" />
         </geometry>
      </visual>
   </link>
   <joint name="Floor_Vinyl_joint" type="fixed">
      <origin rpy="0.0 4.712389 0.0" xyz="11.432 -0.91956 5.102" />
      <child link="Floor_Vinyl" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="BathSink" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/BathSink.dae" scale="100 100 100" />
         </geometry>
      </visual>
   </link>
   <joint name="BathSink_joint" type="fixed">
      <origin rpy="3.141592573589793 3.1415930899999998 3.141592653589793" xyz="-1254.779321 201.11060700000002 2240.679141" />
      <child link="BathSink" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Bathtub" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Bathtub.dae" scale="100.0002 100 100.0002" />
         </geometry>
      </visual>
   </link>
   <joint name="Bathtub_joint" type="fixed">
      <origin rpy="3.141592573589793 1.57079609 3.141592653589793" xyz="-1462.097383 92.08374 2594.469482" />
      <child link="Bathtub" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Plunger" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Plunger.dae" scale="0.3 0.3 0.3" />
         </geometry>
      </visual>
   </link>
   <joint name="Plunger_joint" type="fixed">
      <origin rpy="6.101671 0.0 0.0" xyz="8.93 2.188002 10.57" />
      <child link="Plunger" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Mirror" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Mirror.dae" scale="0.5 0.5 0.5" />
         </geometry>
      </visual>
   </link>
   <joint name="Mirror_joint" type="fixed">
      <origin rpy="3.141592573589793 3.1415930899999998 3.141592653589793" xyz="-1621.751245 435.56349600000004 2100.2348589999997" />
      <child link="Mirror" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Toilet_Paper" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Toilet.dae" scale="0.1559978 0.1559978 0.1559978" />
         </geometry>
      </visual>
   </link>
   <joint name="Toilet_Paper_joint" type="fixed">
      <origin rpy="3.141592573589793 3.1415930899999998 3.141592653589793" xyz="-1623.176279 142.27344499999998 2207.43576" />
      <child link="Toilet_Paper" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Towel_Rack" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Towel_Rack.dae" scale="0.2089409 0.2089406 0.2089409" />
         </geometry>
      </visual>
   </link>
   <joint name="Towel_Rack_joint" type="fixed">
      <origin rpy="0.0 4.712389 0.0" xyz="18.52802 1.824098 2.742241" />
      <child link="Towel_Rack" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="BroomBottom" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/BroomBottom.dae" scale="5.5 5.499999 5.499999" />
         </geometry>
      </visual>
   </link>
   <joint name="BroomBottom_joint" type="fixed">
      <origin rpy="5.035113 1.570796 4.712389" xyz="7.702 -0.23 9.919" />
      <child link="BroomBottom" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="BroomTop" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/BroomTop.dae" scale="5.5 5.499999 5.499999" />
         </geometry>
      </visual>
   </link>
   <joint name="BroomTop_joint" type="fixed">
      <origin rpy="5.035113 1.570796 4.712389" xyz="7.702 -0.23 9.919" />
      <child link="BroomTop" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Cube_73857" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Cube.dae" scale="1.849067 0.003999999 1.813189" />
         </geometry>
      </visual>
   </link>
   <joint name="Cube_73857_joint" type="fixed">
      <origin rpy="1.570796 8.429371E-08 0" xyz="5.2712 0.4545999 10.5104" />
      <child link="Cube_73857" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="ground" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Cube.dae" scale="1.220886 0.007829666 0.7858832" />
         </geometry>
      </visual>
   </link>
   <joint name="ground_joint" type="fixed">
      <origin rpy="0 0 0" xyz="5.308927 2.7078 9.903153" />
      <child link="ground" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_BathMat_Blue" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_BathMat_Blue.dae" scale="2 2 2" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_BathMat_Blue_joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="15.955 -0.911 8.335" />
      <child link="Prop_BathMat_Blue" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_Toilet_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_Toilet_01.dae" scale="1.75 1.75 1.75" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_Toilet_01_joint" type="fixed">
      <origin rpy="0.0 3.141593 0.0" xyz="10.415 -0.911 11.267" />
      <child link="Prop_Toilet_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Prop_ToiletSeat_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Prop_ToiletSeat_01.dae" scale="1.75 1.75 1.75" />
         </geometry>
      </visual>
   </link>
   <joint name="Prop_ToiletSeat_01_joint" type="fixed">
      <origin rpy="0.0 3.141593 0.0" xyz="10.42186 0.6673605 10.48428" />
      <child link="Prop_ToiletSeat_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="TV" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/TV.dae" scale="100 100 100" />
         </geometry>
      </visual>
   </link>
   <joint name="TV_joint" type="fixed">
      <origin rpy="-3.1415890335897934 -8.999999999999976e-08 3.141592653589793" xyz="-778.114608 298.370209 2211.278104" />
      <child link="TV" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="TVTable" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/TVTable.dae" scale="100 100 100" />
         </geometry>
      </visual>
   </link>
   <joint name="TVTable_joint" type="fixed">
      <origin rpy="3.141592573589793 3.1415930899999998 3.141592653589793" xyz="-776.894897 132.416843 2191.9973910000003" />
      <child link="TVTable" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SO_Clipboard" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SO_Clipboard.dae" scale="7 7 7" />
         </geometry>
      </visual>
   </link>
   <joint name="SO_Clipboard_joint" type="fixed">
      <origin rpy="1.570796 1.570796 0.0" xyz="-18.46 6.8 4.09" />
      <child link="SO_Clipboard" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Items_FryPan_01" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Items_FryPan_01.dae" scale="1.25 1.25 1.25" />
         </geometry>
      </visual>
   </link>
   <joint name="Items_FryPan_01_joint" type="fixed">
      <origin rpy="0.0 4.188791 0.0" xyz="-16.577 0.747 1.762" />
      <child link="Items_FryPan_01" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="SI_Food_Meat_Steak_Raw" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/SI_Food_Meat_Steak_Raw.dae" scale="1.5 1.5 1.5" />
         </geometry>
      </visual>
   </link>
   <joint name="SI_Food_Meat_Steak_Raw_joint" type="fixed">
      <origin rpy="0.0 0.0 0.0" xyz="-16.964 2.917 -2.189" />
      <child link="SI_Food_Meat_Steak_Raw" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
   <link name="Öl" label="http://www.ease-crc.org/ont/SOMA.owl#PhysicalObject">
      <sphere_inertia mass="0" radius="0" />
      <visual>
         <origin rpy="0 0 0" xyz="0 0 0" />
         <geometry>
            <mesh filename="package://h_neem/meshes/final_collada_meshes/Bottle4.dae" scale="2 2 2" />
         </geometry>
      </visual>
   </link>
   <joint name="Öl_joint" type="fixed">
      <origin rpy="3.1415926732051034 0.6810589 0.0" xyz="-16.898816 2.062249 -1.493645" />
      <child link="Öl" />
      <parent link="room_link" />
      <axis xyz="0 0 0" />
      <limit effort="300" lower="0" upper="0" velocity="10" />
   </joint>
</robot>