<?xml version="1.0"?>
<sdf version="1.7">
  <!--
  This is based on the model generated by `ConstructTwoFreeBodiesPlant()`
  in `inverse_kinematics_test_utilities.cc`.
  -->
  <model name="two_bodies">
    <link name="body1">
      <inertial>
        <mass>1</mass>
        <inertia>
          <ixx>0.001</ixx>
          <iyy>0.001</iyy>
          <izz>0.001</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <collision name="body1_collision">
        <geometry>
          <sphere>
            <radius>0.1</radius>
          </sphere>
        </geometry>
      </collision>
      <visual name="body1_visual">
        <geometry>
          <sphere>
            <radius>0.1</radius>
          </sphere>
        </geometry>
      </visual>
    </link>
    <link name="body2">
      <inertial>
        <mass>1</mass>
        <inertia>
          <ixx>0.001</ixx>
          <iyy>0.001</iyy>
          <izz>0.001</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <collision name="body2_collision">
        <geometry>
          <sphere>
            <radius>0.2</radius>
          </sphere>
        </geometry>
      </collision>
       <visual name="body2_visual">
        <geometry>
          <sphere>
            <radius>0.2</radius>
          </sphere>
        </geometry>
      </visual>
    </link>
  </model>
</sdf>
