floor.sdf

<?xml version="1.0"?>
<sdf version="1.7">
  <model name="floor">
    <link name="box">
      <inertial>
        <mass>100.0</mass>
        <inertia>
          <ixx>10</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>10</iyy>
          <iyz>0</iyz>
          <izz>10</izz>
        </inertia>
      </inertial>
      <visual name="bottom">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <box>
            <size>10 10 0.1</size>
          </box>
        </geometry>
        <material>
          <diffuse>0.7 0.7 0.7 1.0</diffuse>
        </material>
      </visual>
      <collision name="bottom">
        <pose>0 0 0 0 0 0</pose>
        <geometry>
          <box>
            <size>10 10 0.1</size>
          </box>
        </geometry>
        <drake:proximity_properties>
          <drake:compliant_hydroelastic/>
          <drake:hydroelastic_modulus>1e8</drake:hydroelastic_modulus>
          <drake:mesh_resolution_hint>1.0</drake:mesh_resolution_hint>
          <drake:mu_dynamic>0.1</drake:mu_dynamic>
          <drake:mu_static>0.1</drake:mu_static>
          <drake:hunt_crossley_dissipation>0.0</drake:hunt_crossley_dissipation>
        </drake:proximity_properties>
      </collision>
    </link>
  </model>
</sdf>