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A basic plane specified by URDF.
<?xml version="1.0"?>
<robot name="simpleplane">
<!-- Colors -->
<material name="grey">
<color rgba="0.91 0.925 0.945 1"/>
</material>
<!-- Plane -->
<link name="base_link">
<visual>
<geometry>
<box size="20 20 0.01"/>
<origin rpy="0 0 0" xyz="-10 -10 -0.005"/>
</geometry>
<material name="grey"/>
</visual>
<collision>
<geometry>
<box size="20 20 0.01"/>
<origin rpy="0 0 0" xyz="-10 -10 -0.005"/>
</geometry>
</collision>
<inertial>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<contact>
<lateral_friction value="4"/>
</contact>
</link>
</robot>
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