<?xml version="1.0"?>
<!-- A simple hydroelastic model with two bodies each with sphere geometry. The first sphere is of type "rigid_hydroelastic" and the second sphere is of type "compliant_hydroelastic". -->
<sdf xmlns:drake="http://drake.mit.edu" version="1.7">
  <model name="two_bodies">
    <link name="body1">
      <inertial>
        <mass>1</mass>
        <inertia>
          <ixx>0.016</ixx>
          <iyy>0.016</iyy>
          <izz>0.016</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <visual name="body1_visual">
        <geometry>
          <sphere>
            <radius>0.2</radius>
          </sphere>
        </geometry>
        <material>
          <diffuse>1.0 0.0 0.0 0.5</diffuse>
        </material>
      </visual>
      <collision name="body1_collision">
        <geometry>
          <sphere>
            <radius>0.2</radius>
          </sphere>
        </geometry>
        <drake:proximity_properties>
          <drake:mu_dynamic>0.5</drake:mu_dynamic>
          <drake:mu_static>0.5</drake:mu_static>
          <drake:mesh_resolution_hint>0.05</drake:mesh_resolution_hint>
          <drake:hydroelastic_modulus>1.0e7</drake:hydroelastic_modulus>
          <drake:compliant_hydroelastic/>
        </drake:proximity_properties>
      </collision>
      <visual name="body1_visual2">
        <pose>0.6 0 0.0 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.2</radius>
          </sphere>
        </geometry>
        <material>
          <diffuse>1.0 0.0 0.0 0.5</diffuse>
        </material>
      </visual>
      <collision name="body1_collision2">
        <pose>0.6 0 0.0 0 0 0</pose>
        <geometry>
          <sphere>
            <radius>0.2</radius>
          </sphere>
        </geometry>
        <drake:proximity_properties>
          <drake:mu_dynamic>0.5</drake:mu_dynamic>
          <drake:mu_static>0.5</drake:mu_static>
          <drake:mesh_resolution_hint>0.05</drake:mesh_resolution_hint>
          <drake:hydroelastic_modulus>1.0e7</drake:hydroelastic_modulus>
          <drake:compliant_hydroelastic/>
        </drake:proximity_properties>
      </collision>

    </link>
    <link name="body2">
      <inertial>
        <mass>1</mass>
        <inertia>
          <ixx>0.016</ixx>
          <iyy>0.016</iyy>
          <izz>0.016</izz>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyz>0</iyz>
        </inertia>
      </inertial>
      <visual name="body2_visual">
        <geometry>
          <sphere>
            <radius>0.2</radius>
          </sphere>
        </geometry>
        <material>
          <diffuse>0.0 0.0 1.0 0.5</diffuse>
        </material>
      </visual>
      <collision name="body2_collision">
        <geometry>
          <sphere>
            <radius>0.2</radius>
          </sphere>
        </geometry>
        <drake:proximity_properties>
          <drake:mu_dynamic>0.5</drake:mu_dynamic>
          <drake:mu_static>0.5</drake:mu_static>
          <drake:mesh_resolution_hint>0.05</drake:mesh_resolution_hint>
          <drake:hydroelastic_modulus>1.0e9</drake:hydroelastic_modulus>
          <drake:compliant_hydroelastic/>
        </drake:proximity_properties>
      </collision>
    </link>
  </model>
</sdf>
