<?xml version="1.0"?>
<sdf version="1.7">
  <model name="ball">
    <link name="ball">
      <pose>0 0 0 0 0 0</pose>
      <inertial>
        <pose>0 0 0 0 0 0</pose>
        <mass>0.1</mass>
        <inertia>
          <!-- Solid sphere of radius r and mass m has:
            Inertia tensor = (2/5)mr^2 I_3x3 = 1.6e-5 I_3x3 -->
          <ixx>1.6e-5</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>1.6e-5</iyy>
          <iyz>0</iyz>
          <izz>1.6e-5</izz>
        </inertia>
      </inertial>
      <visual name="visual">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.02</radius>
          </sphere>
        </geometry>
        <material>
          <diffuse>0.5 1.0 0.0 0.5</diffuse>
        </material>
      </visual>
      <collision name="collision">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.02</radius>
          </sphere>
        </geometry>
        <drake:proximity_properties>
          <drake:point_contact_stiffness>980</drake:point_contact_stiffness>
          <drake:compliant_hydroelastic/>
          <drake:hydroelastic_modulus>5.0e6</drake:hydroelastic_modulus>
          <drake:mesh_resolution_hint>0.005</drake:mesh_resolution_hint>
          <!-- Little dissipation means the ball can bounce off. -->
          <drake:hunt_crossley_dissipation>
            0.1
          </drake:hunt_crossley_dissipation>
          <!-- Both mu_dynamic and mu_static are used in Continuous system.
            Only mu_dynamic is used in Discrete system.
          -->
          <drake:mu_dynamic>1.0</drake:mu_dynamic>
          <drake:mu_static>1.0</drake:mu_static>
        </drake:proximity_properties>
      </collision>
    </link>
  </model>
</sdf>
