anki-3d-engine/ThirdParty/Bullet/data/plane_with_collision_audio.urdf

<?xml version="0.0" ?>
<robot name="plane">
  <link name="planeLink">
  	<audio_source filename="wav/cardboardbox0.wav">
  		<collision_force_threshold>0.04</collision_force_threshold>
			<attack_rate>0.01</attack_rate>
			<decay_rate>0.0001</decay_rate>
			<sustain_level>0.5</sustain_level>
			<release_rate>0.005</release_rate>
			<gain>.5</gain>
  	</audio_source>
	  <contact>
	      <lateral_friction value="1"/>
	  </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value=".0"/>
       <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
				<mesh filename="plane.obj" scale="1 1 1"/>
      </geometry>
       <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -5"/>
      <geometry>
	 	<box size="30 30 10"/>
      </geometry>
    </collision>
  </link>
</robot>