<?xml version="1.0"?>
<sdf version="1.7">
  <model name="Floor">
    <!--
    We use a 30x30x5-cm rectangular block to represent the compliant floor on
    which the dinner plate is placed. We set the hydroelastic modulus of the
    floor to be rather small to showcase the contact surface from the
    substantial penetration of the dinner plate into the floor.
    -->
    <link name="Floor">
      <pose>0 0 0 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.1</mass>
        <inertia>
          <ixx>0.000770833</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000770833</iyy>
          <iyz>0</iyz>
          <izz>0.0015</izz>
        </inertia>
      </inertial>
      <visual name="visual">
        <pose>0 0 -2.5e-2 0 0 0</pose>
        <geometry>
          <box>
            <size>3.0e-1 3.0e-1 5.0e-2</size>
          </box>
        </geometry>
        <material>
          <diffuse>0.5 0.5 0.7 0.2</diffuse>
        </material>
      </visual>
      <collision name="collision">
        <pose>0 0 -2.5e-2 0 0 0</pose>
        <geometry>
          <box>
            <size>3.0e-1 3.0e-1 5.0e-2</size>
          </box>
        </geometry>
        <drake:proximity_properties>
          <drake:compliant_hydroelastic/>
          <drake:hydroelastic_modulus> 3.0e4 </drake:hydroelastic_modulus>
          <drake:mesh_resolution_hint> 1.0 </drake:mesh_resolution_hint>
          <drake:mu_dynamic> 0.3 </drake:mu_dynamic>
          <drake:mu_static> 0.3 </drake:mu_static>
          <drake:hunt_crossley_dissipation>
            3.0
          </drake:hunt_crossley_dissipation>
        </drake:proximity_properties>
      </collision>
    </link>
  </model>
</sdf>
