<?xml version="1.0"?>
<sdf version="1.7">
  <model name="brick">
    <link name="brick_base"/>
    <link name="brick_dummy_link1">
      <inertial>
        <mass>1e-10</mass>
        <inertia>
          <ixx>1e-10</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1e-10</iyy>
          <iyz>0</iyz>
          <izz>1e-10</izz>
        </inertia>
      </inertial>
    </link>
    <joint name="brick_translate_y_joint" type="prismatic">
      <child> brick_dummy_link1 </child>
      <parent> brick_base </parent>
      <axis>
        <xyz> 0 1 0 </xyz>
        <limit>
          <!-- Drake parses a zero effort joint as an un-actuated joint. -->
          <effort> 0 </effort>
        </limit>
      </axis>
    </joint>
    <link name="brick_dummy_link2">
      <inertial>
        <mass>1e-10</mass>
        <inertia>
          <ixx>1e-10</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1e-10</iyy>
          <iyz>0</iyz>
          <izz>1e-10</izz>
        </inertia>
      </inertial>
    </link>
    <joint name="brick_translate_z_joint" type="prismatic">
      <child> brick_dummy_link2 </child>
      <parent> brick_dummy_link1 </parent>
      <axis>
        <xyz> 0 0 1 </xyz>
        <limit>
          <!-- Drake parses a zero effort joint as an un-actuated joint. -->
          <effort> 0 </effort>
        </limit>
      </axis>
    </joint>
    <link name="brick_link">
      <inertial>
        <mass>0.028</mass>
        <inertia>
          <ixx>1.17e-5</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1.9e-5</iyy>
          <iyz>0</iyz>
          <izz>1.9e-5</izz>
        </inertia>
      </inertial>
      <visual name="brick_visual_1">
        <pose>0 0 0.025 0 0 0</pose>
        <geometry>
          <box>
            <size>0.07 0.1 0.05</size>
          </box>
        </geometry>
        <material>
          <diffuse>0 0.8 0 1.0</diffuse>
        </material>
      </visual>
      <visual name="brick_visual_2">
        <pose>0 0 -0.025 0 0 0</pose>
        <geometry>
          <box>
            <size>0.07 0.1 0.05</size>
          </box>
        </geometry>
        <material>
          <diffuse>0 0 0.8 1.0</diffuse>
        </material>
      </visual>
      <collision name="box_collision">
        <geometry>
          <box>
            <size>0.07 0.1 0.1</size>
          </box>
        </geometry>
      </collision>
      <collision name="sphere1_collision">
        <pose>-0.035 0.05 0.05 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>.0001</radius>
          </sphere>
        </geometry>
      </collision>
      <collision name="sphere2_collision">
        <pose>-0.035 -0.05 0.05 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>.0001</radius>
          </sphere>
        </geometry>
      </collision>
      <collision name="sphere3_collision">
        <pose>-0.035 0.05 -0.05 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>.0001</radius>
          </sphere>
        </geometry>
      </collision>
      <collision name="sphere4_collision">
        <pose>-0.035 -0.05 -0.05 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>.0001</radius>
          </sphere>
        </geometry>
      </collision>
    </link>
    <joint name="brick_revolute_x_joint" type="revolute">
      <child> brick_link </child>
      <parent> brick_dummy_link2 </parent>
      <axis>
        <xyz> 1 0 0 </xyz>
        <limit>
          <!-- Drake parses a zero effort joint as an un-actuated joint. -->
          <effort> 0 </effort>
        </limit>
      </axis>
    </joint>
  </model>
</sdf>
