<?xml version="1.0"?>
<sdf version="1.7">
  <!-- Note: This is the accompaning SDF file for the unit test
       hydrostatic_traction_test.cc and therefore these two files must be kept
       in sync.

       This file defines the model for a box on a flat plane.
  -->
  <model name="block_on_halfspace">
    <!-- A link to model the ground. Inertia values are not particularly
         important since the ground does not move. -->
    <link name="ground">
      <pose>0 0 -1 0 0 0</pose>
      <inertial>
        <mass>1.0</mass>
        <inertia>
          <ixx>1.0</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1.0</iyy>
          <iyz>0</iyz>
          <izz>1.0</izz>
        </inertia>
      </inertial>
      <visual name="visual">
        <geometry>
          <plane>
            <normal>0.0 0.0 1.0</normal>
          </plane>
        </geometry>
      </visual>
      <collision name="ground-collision">
        <geometry>
          <box>
            <size>10.0 10.0 0.1</size>
          </box>
        </geometry>
      </collision>
    </link>
    <!-- The model for a solid, unit cube of uniform density. -->
    <link name="box">
      <pose>0 0 0.5 0 0 0</pose>
      <inertial>
        <mass>1.0</mass>
        <inertia>
          <ixx>0.166666666666667</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.166666666666667</iyy>
          <iyz>0</iyz>
          <izz>0.166666666666667</izz>
        </inertia>
      </inertial>
      <visual name="visual">
        <geometry>
          <box>
            <size>1.0 1.0 1.0</size>
          </box>
        </geometry>
      </visual>
      <collision name="box-collision">
        <geometry>
          <box>
            <size>1.0 1.0 1.0</size>
          </box>
        </geometry>
      </collision>
    </link>
  </model>
</sdf>
