<?xml version="1.0"?>
<sdf xmlns:drake="http://drake.mit.edu" version="1.6">
  <model name="Particle">
    <!-- Particle of mass m = 0.5 Kg and zero size. 
    In Drake we model it as a 6DOF body, with infinite moments of inertia so
    that rotational motions are negligible. -->
    <link name="particle">
      <inertial>
        <pose>0 0 0.0 0 0 0</pose>
        <mass>0.5</mass>
        <!-- Inertia values are set to very large values so that rotational
        motions are negligible. This is so that rotational contributions become
        negligible in the computation of the Delassus operator for unit testing.
        -->
        <inertia>
          <ixx>1.0e40</ixx>
          <iyy>1.0e40</iyy>
          <izz>1.0e40</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>

      <visual name="visual">
        <pose>0.0 0.0 0.0 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.005</radius>
          </sphere>
        </geometry>
        <material>
          <diffuse>1 0 0 1</diffuse>
        </material>
      </visual>
      <collision name="collision">
        <pose>0.0 0.0 0.0 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.0</radius>
          </sphere>
        </geometry>
        <drake:proximity_properties>
          <drake:mu_dynamic>0.5</drake:mu_dynamic>
          <drake:mu_static>0.5</drake:mu_static>
        </drake:proximity_properties>
      </collision>
    </link>
  </model>
</sdf>
