# Revision history [back]

I believe this is a bug in Gazebo regarding the way planes are specified. A way around it for now is to set the normal vector as well as the pose. So for your example, the model will be:

<model name='ground_plane'>
<static>1</static>
<pose>0 0 0 0 0.2 0</pose>
<collision name='collision'>
<geometry>
<plane>
<normal>0.199 0 0.98</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<plane>
<normal>0.199 0 0.98</normal>
<size>100 100</size>
</plane>
</geometry>
</visual>