<mujoco model="shelf_liden_0922">
    <asset>
        <mesh file="shelf_liden_0922/botshelf.stl" name="botshelf" scale="0.0005 0.0005 0.0005" />
        <mesh file="shelf_liden_0922/leftbotbracket.stl" name="leftbotbracket" scale="0.0005 0.0005 0.0005" />
        <mesh file="shelf_liden_0922/leftcolumn.stl" name="leftcolumn" scale="0.0005 0.0005 0.0005" />
        <mesh file="shelf_liden_0922/leftmidbracket.stl" name="leftmidbracket" scale="0.0005 0.0005 0.0005" />
        <mesh file="shelf_liden_0922/lefttopbracket.stl" name="lefttopbracket" scale="0.0005 0.0005 0.0005" />
        <mesh file="shelf_liden_0922/midshelf.stl" name="midshelf" scale="0.0005 0.0005 0.0005" />
        <mesh file="shelf_liden_0922/rightbotbracket.stl" name="rightbotbracket" scale="0.0005 0.0005 0.0005" />
        <mesh file="shelf_liden_0922/rightcolumn.stl" name="rightcolumn" scale="0.0005 0.0005 0.0005" />
        <mesh file="shelf_liden_0922/rightmidbracket.stl" name="rightmidbracket" scale="0.0005 0.0005 0.0005" />
        <mesh file="shelf_liden_0922/righttopbracket.stl" name="righttopbracket" scale="0.0005 0.0005 0.0005" />
        <mesh file="shelf_liden_0922/topshelf.stl" name="topshelf" scale="0.0005 0.0005 0.0005" />
        <texture file="../textures/light-wood.png" name="tex-light-wood" type="2d" />
        <material name="pencil-wood" reflectance="0.5" texrepeat="20 20" texture="tex-light-wood" texuniform="true" />
    </asset>

    <equality>
        <weld active="false" body1="1_leftcolumn" body2="3_leftbotbracket" solimp="1 1 0.5" solref="0.01 0.3" />
        <weld active="false" body1="1_leftcolumn" body2="4_leftmidbracket" solimp="1 1 0.5" solref="0.01 0.3" />
        <weld active="false" body1="1_leftcolumn" body2="5_lefttopbracket" solimp="1 1 0.5" solref="0.01 0.3" />
        <weld active="false" body1="2_rightcolumn" body2="6_rightbotbracket" solimp="1 1 0.5" solref="0.01 0.3" />
        <weld active="false" body1="2_rightcolumn" body2="7_rightmidbracket" solimp="1 1 0.5" solref="0.01 0.3" />
        <weld active="false" body1="2_rightcolumn" body2="8_righttopbracket" solimp="1 1 0.5" solref="0.01 0.3" />
        <weld active="false" body1="9_botshelf" body2="6_rightbotbracket" solimp="1 1 0.5" solref="0.01 0.3" />
        <weld active="false" body1="9_botshelf" body2="3_leftbotbracket" solimp="1 1 0.5" solref="0.01 0.3" />
        <weld active="false" body1="10_midshelf" body2="7_rightmidbracket" solimp="1 1 0.5" solref="0.01 0.3" />
        <weld active="false" body1="10_midshelf" body2="4_leftmidbracket" solimp="1 1 0.5" solref="0.01 0.3" />
        <weld active="false" body1="11_topshelf" body2="8_righttopbracket" solimp="1 1 0.5" solref="0.01 0.3" />
        <weld active="false" body1="11_topshelf" body2="5_lefttopbracket" solimp="1 1 0.5" solref="0.01 0.3" />
    </equality>

    <worldbody>
        <body name="1_leftcolumn" pos="0 -0.29 0.4">
            <geom density="100" material="pencil-wood" mesh="leftcolumn" name="1_leftcolumn_geom" pos="0 0 0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
            <site name="1_leftcolumn_top_site" pos="0 0 0.30" rgba="0 0 1 0" size="0.002" />
            <site name="1_leftcolumn_bottom_site" pos="0 0 -0.30" rgba="0 0 1 0" size="0.002" />
            <site name="1_leftcolumn_horizontal_radius_site" pos="0 0 0" rgba="0 0 1 0" size="0.0150" />
            <site name="leftcolumn-leftbotbracket,0,conn_site" pos="0.012 0 -0.1475" quat="0.707 0 0.707 0" rgba="1 0 0 0.3" size="0.010" />
            <site name="leftcolumn-leftmidbracket,0,conn_site" pos="0.012 0 0.0350" quat="0.707 0 0.707 0" rgba="1 1 0 0.3" size="0.010" />
            <site name="leftcolumn-lefttopbracket,0,conn_site" pos="0.012 0 0.21" quat="0.707 0 0.707 0" rgba="1 0 1 0.3" size="0.010" />
            <site name="1_leftcolumn_corner_site1" pos="0 0 -0.3" rgba="0 0 1 0.3" size="0.0025" />
            <site name="1_leftcolumn_corner_site2" pos="0 0 0.3" rgba="0 0 1 0.3" size="0.0025" />
        </body>
        <body name="2_rightcolumn" pos="0 0.29 0.4">
            <geom density="100" material="pencil-wood" mesh="rightcolumn" name="2_rightcolumn_geom" pos="0 0 0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
            <site name="2_rightcolumn_top_site" pos="0 0 0.30" rgba="0 0 1 0" size="0.002" />
            <site name="2_rightcolumn_bottom_site" pos="0 0 -0.30" rgba="0 0 1 0" size="0.002" />
            <site name="2_rightcolumn_horizontal_radius_site" pos="0 0 0" rgba="0 0 1 0" size="0.0150" />
            <site name="rightcolumn-rightbotbracket,0,conn_site" pos="0.012 0 -0.1475" quat="0.707 0 0.707 0" rgba="0 0 0 0.3" size="0.010" />
            <site name="rightcolumn-rightmidbracket,0,conn_site" pos="0.012 0 0.0350" quat="0.707 0 0.707 0" rgba="0 1 0 0.3" size="0.010" />
            <site name="rightcolumn-righttopbracket,0,conn_site" pos="0.012 0 0.21" quat="0.707 0 0.707 0" rgba="0 1 1 0.3" size="0.010" />
            <site name="2_rightcolumn_corner_site1" pos="0 0 -0.3" rgba="0 0 1 0.3" size="0.0025" />
            <site name="2_rightcolumn_corner_site2" pos="0 0 0.3" rgba="0 0 1 0.3" size="0.0025" />
        </body>
        <body name="9_botshelf" pos="0.0715 0 0.27">
            <geom density="100" material="pencil-wood" mesh="botshelf" name="9_botshelf_geom" pos="0 0 0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
            <site name="9_botshelf_top_site" pos="0 0.3 0" rgba="0 0 1 0" size="0.002" />
            <site name="9_botshelf_bottom_site" pos="0 -0.3 0" rgba="0 0 1 0" size="0.002" />
            <site name="9_botshelf_horizontal_radius_site" pos="0 0 0" rgba="0 0 1 0" size="0.002" />
            <site name="botshelf-leftbotbracket,0,conn_site" pos="0 -0.29 -0.01" rgba="1 1 1 0.3" size="0.010" />
            <site name="botshelf-rightbotbracket,0,conn_site" pos="0 0.29 -0.01" rgba="0.3 0.3 0.3 0.3" size="0.010" />
            <site name="9_botshelf_corner_site1" pos="-0.060 -0.295 0" rgba="0 0 1 0.3" size="0.0025" />
            <site name="9_botshelf_corner_site2" pos="0.060 -0.295 0" rgba="0 0 1 0.3" size="0.0025" />
            <site name="9_botshelf_corner_site3" pos="-0.060 0.295 0" rgba="0 0 1 0.3" size="0.0025" />
            <site name="9_botshelf_corner_site4" pos="0.060 0.295 0" rgba="0 0 1 0.3" size="0.0025" />
        </body>
        <body name="3_leftbotbracket" pos="0.0615 -0.29 0.2525">
            <geom density="100" material="pencil-wood" mesh="leftbotbracket" name="3_leftbotbracket_geom" pos="0 0 0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
            <site name="3_leftbotbracket_top_site" pos="0.055 0 0.01" rgba="0 0 1 0" size="0.002" />
            <site name="3_leftbotbracket_bottom_site" pos="-0.055 0 0.01" rgba="0 0 1 0" size="0.002" />
            <site name="3_leftbotbracket_horizontal_radius_site" pos="0 0 0" rgba="0 0 1 0.3" size="0.0050" />
            <site name="leftbotbracket-leftcolumn,0,conn_site" pos="-0.053 0 0" quat="0.707 0 0.707 0" rgba="1 0 0 0.3" size="0.010" />
            <site name="leftbotbracket-botshelf,0,conn_site" pos="0.01 0 0.01" rgba="1 1 1 0.3" size="0.010" />
            <site name="3_leftbotbracket_corner_site1" pos="-0.05 0 0.01" rgba="0 0 1 0.3" size="0.0025" />
            <site name="3_leftbotbracket_corner_site2" pos="0.05 0 0.01" rgba="0 0 1 0.3" size="0.0025" />
            <site name="3_leftbotbracket_corner_site3" pos="-0.05 0 -0.0150" rgba="0 0 1 0.3" size="0.0025" />
        </body>
        <body name="6_rightbotbracket" pos="0.0615 0.29 0.2525">
            <geom density="100" material="pencil-wood" mesh="rightbotbracket" name="6_rightbotbracket_geom" pos="0 0 0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
            <site name="6_rightbotbracket_top_site" pos="0.055 0 0.01" rgba="0 0 1 0" size="0.002" />
            <site name="6_rightbotbracket_bottom_site" pos="-0.055 0 0.01" rgba="0 0 1 0" size="0.002" />
            <site name="6_rightbotbracket_horizontal_radius_site" pos="0 0 0" rgba="0 0 1 0" size="0.002" />
            <site name="rightbotbracket-rightcolumn,0,conn_site" pos="-0.053 0 0" quat="0.707 0 0.707 0" rgba="0 0 0 0.3" size="0.010" />
            <site name="rightbotbracket-botshelf,0,conn_site" pos="0.01 0 0.01" rgba="0.3 0.3 0.3 0.3" size="0.010" />
            <site name="6_rightbotbracket_corner_site1" pos="-0.05 0 0.01" rgba="0 0 1 0.3" size="0.0025" />
            <site name="6_rightbotbracket_corner_site2" pos="0.050 0 0.01" rgba="0 0 1 0.3" size="0.0025" />
            <site name="6_rightbotbracket_corner_site3" pos="-0.05 0 -0.0150" rgba="0 0 1 0.3" size="0.0025" />
        </body>
        <body name="10_midshelf" pos="0.0715 0 0.451">
            <geom density="100" material="pencil-wood" mesh="midshelf" name="10_midshelf_geom" pos="0 0 0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
            <site name="10_midshelf_top_site" pos="0 0.3 0" rgba="0 0 1 0" size="0.002" />
            <site name="10_midshelf_bottom_site" pos="0 -0.3 0" rgba="0 0 1 0" size="0.002" />
            <site name="10_midshelf_horizontal_radius_site" pos="0 0 0" rgba="0 0 1 0" size="0.002" />
            <site name="midshelf-leftmidbracket,0,conn_site" pos="0 -0.29 -0.01" rgba="0.5 0 0.5 0.3" size="0.010" />
            <site name="midshelf-rightmidshelf,0,conn_site" pos="0 0.29 -0.01" rgba="0.5 1 0.5 0.3" size="0.010" />
            <site name="10_midshelf_corner_site1" pos="-0.060 -0.295 0" rgba="0 0 1 0.3" size="0.0025" />
            <site name="10_midshelf_corner_site2" pos="0.060 -0.295 0" rgba="0 0 1 0.3" size="0.0025" />
            <site name="10_midshelf_corner_site3" pos="-0.060 0.295 0" rgba="0 0 1 0.3" size="0.0025" />
            <site name="10_midshelf_corner_site4" pos="0.060 0.295 0" rgba="0 0 1 0.3" size="0.0025" />
        </body>
        <body name="4_leftmidbracket" pos="0.0615 -0.29 0.4350">
            <geom density="100" material="pencil-wood" mesh="leftmidbracket" name="4_leftmidbracket_geom" pos="0 0 0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
            <site name="4_leftmidbracket_top_site" pos="0.055 0 0.01" rgba="0 0 1 0" size="0.002" />
            <site name="4_leftmidbracket_bottom_site" pos="-0.055 0 0.01" rgba="0 0 1 0" size="0.002" />
            <site name="4_leftmidbracket_horizontal_radius_site" pos="0 0 0" rgba="0 0 1 0" size="0.002" />
            <site name="leftmidbracket-leftcolumn,0,conn_site" pos="-0.053 0 0" quat="0.707 0 0.707 0" rgba="1 1 0 0.3" size="0.010" />
            <site name="leftmidbracket-midshelf,0,conn_site" pos="0.01 0 0.01" rgba="0.5 0 0.5 0.3" size="0.010" />
            <site name="4_leftmidbracket_corner_site1" pos="-0.05 0 0.01" rgba="0 0 1 0.3" size="0.0025" />
            <site name="4_leftmidbracket_corner_site2" pos="0.050 0 0.01" rgba="0 0 1 0.3" size="0.0025" />
            <site name="4_leftmidbracket_corner_site3" pos="-0.05 0 -0.0150" rgba="0 0 1 0.3" size="0.0025" />
        </body>
        <body name="7_rightmidbracket" pos="0.0615 0.29 0.4350">
            <geom density="100" material="pencil-wood" mesh="rightmidbracket" name="7_rightmidbracket_geom" pos="0 0 0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
            <site name="7_rightmidbracket_top_site" pos="0.055 0 0.01" rgba="0 0 1 0" size="0.002" />
            <site name="7_rightmidbracket_bottom_site" pos="-0.055 0 0.01" rgba="0 0 1 0" size="0.002" />
            <site name="7_rightmidbracket_horizontal_radius_site" pos="0 0 0" rgba="0 0 1 0" size="0.002" />
            <site name="rightmidbracket-rightcolumn,0,conn_site" pos="-0.053 0 0" quat="0.707 0 0.707 0" rgba="0 1 0 0.3" size="0.010" />
            <site name="rightmidbracket-midshelf,0,conn_site" pos="0.01 0 0.01" rgba="0.5 1 0.5 0.3" size="0.010" />
            <site name="7_rightmidbracket_corner_site1" pos="-0.05 0 0.01" rgba="0 0 1 0.3" size="0.0025" />
            <site name="7_rightmidbracket_corner_site2" pos="0.050 0 0.01" rgba="0 0 1 0.3" size="0.0025" />
            <site name="7_rightmidbracket_corner_site3" pos="-0.05 0 -0.0150" rgba="0 0 1 0.3" size="0.0025" />
        </body>
        <body name="11_topshelf" pos="0.0715 0 0.627">
            <geom density="100" material="pencil-wood" mesh="topshelf" name="11_topshelf_geom" pos="0 0 0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
            <site name="11_topshelf_top_site" pos="0 0.3 0" rgba="0 0 1 0" size="0.002" />
            <site name="11_topshelf_bottom_site" pos="0 -0.3 0" rgba="0 0 1 0" size="0.002" />
            <site name="11_topshelf_horizontal_radius_site" pos="0 0 0" rgba="0 0 1 0" size="0.002" />
            <site name="topshelf-lefttopbracket,0,conn_site" pos="0 -0.29 -0.01" rgba="1 0.5 0 0.3" size="0.010" />
            <site name="topshelf-righttopbracket,0,conn_site" pos="0 0.29 -0.01" rgba="1 0 0.5 0.3" size="0.010" />
            <site name="11_topshelf_corner_site1" pos="-0.060 -0.295 0" rgba="0 0 1 0.3" size="0.0025" />
            <site name="11_topshelf_corner_site2" pos="0.060 -0.295 0" rgba="0 0 1 0.3" size="0.0025" />
            <site name="11_topshelf_corner_site3" pos="-0.060 0.295 0" rgba="0 0 1 0.3" size="0.0025" />
            <site name="11_topshelf_corner_site4" pos="0.060 0.295 0" rgba="0 0 1 0.3" size="0.0025" />
        </body>
        <body name="8_righttopbracket" pos="0.0615 0.29 0.61">
            <geom density="100" material="pencil-wood" mesh="righttopbracket" name="8_righttopbracket_geom" pos="0 0 0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
            <site name="8_righttopbracket_top_site" pos="0.055 0 0.01" rgba="0 0 1 0" size="0.002" />
            <site name="8_righttopbracket_bottom_site" pos="-0.055 0 0.01" rgba="0 0 1 0" size="0.002" />
            <site name="8_righttopbracket_horizontal_radius_site" pos="0 0 0" rgba="0 0 1 0" size="0.002" />
            <site name="righttopbracket-rightcolumn,0,conn_site" pos="-0.053 0 0" quat="0.707 0 0.707 0" rgba="0 1 1 0.3" size="0.010" />
            <site name="righttopbracket-topshelf,0,conn_site" pos="0.01 0 0.01" rgba="1 0 0.5 0.3" size="0.010" />
            <site name="8_righttopbracket_corner_site1" pos="-0.05 0 0.01" rgba="0 0 1 0.3" size="0.0025" />
            <site name="8_righttopbracket_corner_site2" pos="0.050 0 0.01" rgba="0 0 1 0.3" size="0.0025" />
            <site name="8_righttopbracket_corner_site3" pos="-0.05 0 -0.0150" rgba="0 0 1 0.3" size="0.0025" />
        </body>
        <body name="5_lefttopbracket" pos="0.0615 -0.29 0.61">
            <geom density="100" material="pencil-wood" mesh="lefttopbracket" name="5_lefttopbracket_geom" pos="0 0 0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
            <site name="5_lefttopbracket_top_site" pos="0.055 0 0.01" rgba="0 0 1 0" size="0.002" />
            <site name="5_lefttopbracket_bottom_site" pos="-0.055 0 0.01" rgba="0 0 1 0" size="0.002" />
            <site name="5_lefttopbracket_horizontal_radius_site" pos="0 0 0" rgba="0 0 1 0" size="0.002" />
            <site name="lefttopbracket-leftcolumn,0,conn_site" pos="-0.053 0 0" quat="0.707 0 0.707 0" rgba="1 0 1 0.3" size="0.010" />
            <site name="lefttopbracket-topshelf,0,conn_site" pos="0.01 0 0.01" rgba="1 0.5 0 0.3" size="0.010" />
            <site name="5_lefttopbracket_corner_site1" pos="-0.05 0 0.01" rgba="0 0 1 0.3" size="0.0025" />
            <site name="5_lefttopbracket_corner_site2" pos="0.050 0 0.01" rgba="0 0 1 0.3" size="0.0025" />
            <site name="5_lefttopbracket_corner_site3" pos="-0.05 0 -0.0150" rgba="0 0 1 0.3" size="0.0025" />
        </body>
    </worldbody>
</mujoco>
