ground.urdf

<?xml version="1.0"?>
<robot name="ground">
  <link name="ground">
    <inertial>
      <mass value="1"/>
      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin xyz="0 0 -5"/>
      <geometry>
        <box size="100 100 10"/>
      </geometry>
      <material name="desert_sand">
      	<color rgba="0.9297 0.7930 0.6758 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 -5"/>
      <geometry>
        <box size="100 100 10"/>
      </geometry>
    </collision>
  </link>
  <joint name="weld" type="fixed">
    <parent link="world" />
    <child link="ground" />
  </joint>
  
</robot>