cliport/environments/assets/rectangle/rectangle-template-sides-4.urdf

<?xml version="1.0" ?>
<robot name="line.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=".1"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>

    <visual>
      <origin rpy="0 0 0" xyz="0 HALF0 0"/>
      <geometry>
         <box size="DIM0 0.01 0.001"/>
      </geometry>
      <material name="green">
        <color rgba="0 1 0 1"/>
      </material>
    </visual>

    <visual>
      <origin rpy="0 0 0" xyz="0 -HALF0 0"/>
      <geometry>
         <box size="DIM0 0.01 0.001"/>
      </geometry>
      <material name="green">
        <color rgba="0 1 0 1"/>
      </material>
    </visual>

    <visual>
      <origin rpy="0 0 0" xyz="HALF1 0 0"/>
      <geometry>
         <box size="0.01 DIM1 0.001"/>
      </geometry>
      <material name="green">
        <color rgba="0 1 0 1"/>
      </material>
    </visual>

    <visual>
      <origin rpy="0 0 0" xyz="-HALF1 0 0"/>
      <geometry>
         <box size="0.01 DIM1 0.001"/>
      </geometry>
      <material name="green">
        <color rgba="0 1 0 1"/>
      </material>
    </visual>

  </link>
</robot>