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<?xml version="0.0" ?>
<robot name="workspace.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<inertia_scaling value="3.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="plane.obj" scale="0.01524 0.02032 1"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
<!-- <collision>
<origin rpy="0 0 0" xyz="0 0 -0.005"/>
<geometry>
<box size="2.0 3.0 0.01"/>
</geometry>
</collision> -->
</link>
</robot>
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