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For future users, this issue can be easily resolved adding box in the urdf file . I used the following code

<link name="ground_plane_box">
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <box size="1.0 1.0 0.5"/> 
        </geometry>
        <material name="Grey">
            <color rgba="0.7 0.7 0.7 1.0"/>
        </material>
    </visual>
    <collision>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <box size="1.0 1.0 0.5"/> 
        </geometry>
    </collision>
</link>

<joint name="ground_plane_box" type="fixed">
    <parent link="world" />
    <child link="ground_plane_box" />
    <origin xyz="0 0 -0.25" rpy="0 0 0" />
</joint>