<?xml version="1.0" ?>
<gazebo version="1.2">
  <model name="bookshelf">
    <static>true</static>
    <link name="link">
      <inertial>
        <mass>1.0</mass>
      </inertial>
      <collision name="back">
        <pose>0 0.005 0.6 0 0 0</pose>
        <geometry>
          <box>
            <size>0.9 0.01 1.2</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual1">
        <pose>0 0.005 0.6 0 0 0</pose>
        <geometry>
          <box>
            <size>0.9 0.01 1.2</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Wood</name>
          </script>
        </material>
      </visual>
      <collision name="left_side">
        <pose>0.45 -0.195 0.6 0 0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.4 1.2</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual2">
        <pose>0.45 -0.195 0.6 0 0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.4 1.2</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Wood</name>
          </script>
        </material>
      </visual>
      <collision name="right_side">
        <pose>-0.45 -0.195 0.6 0 0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.4 1.2</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual3">
        <pose>-0.45 -0.195 0.6 0 0 0</pose>
        <geometry>
          <box>
            <size>0.02 0.4 1.2</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Wood</name>
          </script>
        </material>
      </visual>
      <collision name="bottom">
        <pose>0 -0.195 0.03 0 0 0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.06</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual4">
        <pose>0 -0.195 0.03 0 0 0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.06</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Wood</name>
          </script>
        </material>
      </visual>
      <collision name="top">
        <pose>0 -0.195 1.19 0 0 0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.02</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual5">
        <pose>0 -0.195 1.19 0 0 0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.02</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Wood</name>
          </script>
        </material>
      </visual>
      <collision name="low_shelf">
        <pose>0 -0.195 0.43 0 0 0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.02</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual6">
        <pose>0 -0.195 0.43 0 0 0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.02</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Wood</name>
          </script>
        </material>
      </visual>
      <collision name="high_shelf">
        <pose>0 -0.195 0.8 0 0 0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.02</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual7">
        <pose>0 -0.195 0.8 0 0 0</pose>
        <geometry>
          <box>
            <size>0.88 0.4 0.02</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Wood</name>
          </script>
        </material>
      </visual>
    </link>
  </model>
</gazebo>
