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Hi @Lekha

The only thing they did is to generate a yellow plane with Gazebo Materials. You can check the Gazebo model that the tutorial is using here. You should place the yellow_line folder than contains the Gazebo model on .gazebo/models folder to be able to use in the simulator.

Besides that, in this other link you will find the specific Gazebo worlds the tutorial use so you do not really need to build the world by yourself.

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