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    <color rgba="0.647059 0.647059 0.647059 1.0" />
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      <origin xyz="3.39657e-18 -7.61468e-17 -9.02056e-17" rpy="-3.14159 -1.70512e-17 -3.3432e-17" />
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    <color rgba="0.647059 0.647059 0.647059 1.0" />
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  <link name="pin_bearing_oring_18">
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      <origin xyz="6.93889e-18 0.0 0.002" rpy="3.14159 -9.60455e-19 -8.0888e-17" />
      <geometry>
        <mesh filename="package://assets/bearing.stl" />
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      <material name="bearing_22_material" />
    </visual>
    <collision>
      <origin xyz="6.92749e-18 -1.10527e-19 8.23994e-18" rpy="3.14159 -9.60455e-19 -8.0888e-17" />
      <geometry>
        <cylinder length="0.004" radius="0.006" />
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    <inertial>
      <origin xyz="6.01395e-18 -1.22058e-18 7.39292e-18" rpy="0.0 0.0 0.0" />
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  <material name="bearing_23_material">
    <color rgba="0.647059 0.647059 0.647059 1.0" />
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  <link name="pin_bearing_oring_23">
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      <origin xyz="9.02056e-17 -1.38778e-17 0.002" rpy="-3.14159 2.92422e-17 2.75242e-17" />
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        <mesh filename="package://assets/bearing.stl" />
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      <material name="bearing_23_material" />
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    <collision>
      <origin xyz="9.00394e-17 -1.39431e-17 -1.38778e-16" rpy="-3.14159 2.92422e-17 2.75242e-17" />
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      <origin xyz="8.06299e-17 -1.42782e-17 -1.23189e-16" rpy="0.0 0.0 0.0" />
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  <joint name="wheel2_passive3" type="continuous">
    <origin xyz="0.0167519 -0.023057 -0.01" rpy="-1.5708 -9.8851e-15 2.19911" />
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  <material name="bearing_24_material">
    <color rgba="0.647059 0.647059 0.647059 1.0" />
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  <link name="pin_bearing_oring_24">
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      <origin xyz="6.93889e-18 0.0 0.002" rpy="-3.14159 -3.62932e-17 8.45653e-18" />
      <geometry>
        <mesh filename="package://assets/bearing.stl" />
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      <material name="bearing_24_material" />
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    <collision>
      <origin xyz="7.1724e-18 -1.2755e-19 1.69136e-17" rpy="-3.14159 -3.62932e-17 8.45653e-18" />
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    <inertial>
      <origin xyz="5.50809e-18 -4.67836e-19 1.53435e-17" rpy="0.0 0.0 0.0" />
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  <joint name="wheel2_passive4" type="continuous">
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  <material name="bearing_25_material">
    <color rgba="0.647059 0.647059 0.647059 1.0" />
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  <link name="pin_bearing_oring_25">
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      <origin xyz="-1.38778e-17 1.38778e-17 0.002" rpy="-3.14159 1.11748e-17 1.76607e-30" />
      <geometry>
        <mesh filename="package://assets/bearing.stl" />
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      <material name="bearing_25_material" />
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    <collision>
      <origin xyz="-1.37227e-17 1.38778e-17 8.67362e-19" rpy="-3.14159 1.11748e-17 1.76607e-30" />
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        <cylinder length="0.004" radius="0.006" />
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    <inertial>
      <origin xyz="-1.38512e-17 1.20058e-17 7.43328e-19" rpy="0.0 0.0 0.0" />
      <mass value="0.00337198" />
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  <joint name="wheel2_passive5" type="continuous">
    <origin xyz="-5.01677e-18 -0.0285 -0.01" rpy="-1.66533e-16 -1.5708 0.0" />
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  <material name="bearing_26_material">
    <color rgba="0.647059 0.647059 0.647059 1.0" />
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  <link name="pin_bearing_oring_26">
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      <origin xyz="6.93889e-18 6.93889e-18 0.002" rpy="3.14159 7.6614e-17 -2.90625e-17" />
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        <mesh filename="package://assets/bearing.stl" />
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      <material name="bearing_26_material" />
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    <collision>
      <origin xyz="6.93567e-18 6.951e-18 -2.25514e-17" rpy="3.14159 7.6614e-17 -2.90625e-17" />
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    <inertial>
      <origin xyz="6.79399e-18 6.62236e-18 -2.09403e-17" rpy="0.0 0.0 0.0" />
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  <joint name="wheel2_passive6" type="continuous">
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  <material name="bearing_27_material">
    <color rgba="0.647059 0.647059 0.647059 1.0" />
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  <link name="pin_bearing_oring_27">
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      <origin xyz="-1.38778e-17 -3.46945e-18 0.002" rpy="-3.14159 2.21867e-31 -3.25893e-17" />
      <geometry>
        <mesh filename="package://assets/bearing.stl" />
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      <material name="bearing_27_material" />
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    <collision>
      <origin xyz="-1.38778e-17 -3.46945e-18 -1.73472e-18" rpy="-3.14159 2.21867e-31 -3.25893e-17" />
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        <cylinder length="0.004" radius="0.006" />
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    <inertial>
      <origin xyz="-1.3248e-17 -4.18469e-18 -1.76236e-18" rpy="0.0 0.0 0.0" />
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  <joint name="wheel2_passive7" type="continuous">
    <origin xyz="0.0285 -3.46945e-18 -0.01" rpy="-1.5708 1.5708 0.0" />
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  <material name="bearing_28_material">
    <color rgba="0.647059 0.647059 0.647059 1.0" />
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  <link name="pin_bearing_oring_28">
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      <origin xyz="-6.93889e-18 2.08167e-17 0.002" rpy="-3.14159 -1.43671e-17 -8.11418e-17" />
      <geometry>
        <mesh filename="package://assets/bearing.stl" />
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      <material name="bearing_28_material" />
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    <collision>
      <origin xyz="-6.85854e-18 2.08098e-17 6.93889e-18" rpy="-3.14159 -1.43671e-17 -8.11418e-17" />
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    <inertial>
      <origin xyz="-5.45087e-18 1.73948e-17 5.75448e-18" rpy="0.0 0.0 0.0" />
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  <material name="bearing_29_material">
    <color rgba="0.647059 0.647059 0.647059 1.0" />
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  <link name="pin_bearing_oring_29">
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      <origin xyz="0.0 1.04083e-17 0.002" rpy="-3.14159 6.67747e-17 -1.54391e-18" />
      <geometry>
        <mesh filename="package://assets/bearing.stl" />
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      <material name="bearing_29_material" />
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    <collision>
      <origin xyz="-1.41e-20 1.04754e-17 3.46945e-18" rpy="-3.14159 6.67747e-17 -1.54391e-18" />
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    <inertial>
      <origin xyz="-1.56682e-19 9.3801e-18 2.86342e-18" rpy="0.0 0.0 0.0" />
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  <joint name="wheel2_passive9" type="continuous">
    <origin xyz="0.023057 0.0167519 -0.01" rpy="-2.19911 1.5708 0.0" />
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  <material name="bearing_30_material">
    <color rgba="0.647059 0.647059 0.647059 1.0" />
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  <link name="pin_bearing_oring_30">
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      <origin xyz="6.93889e-18 6.93889e-17 0.002" rpy="-3.14159 -2.8145e-17 -8.80214e-18" />
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        <mesh filename="package://assets/bearing.stl" />
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      <material name="bearing_30_material" />
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    <collision>
      <origin xyz="6.89888e-18 6.92132e-17 -1.12757e-16" rpy="-3.14159 -2.8145e-17 -8.80214e-18" />
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      <origin xyz="6.75414e-18 6.1157e-17 -1.00253e-16" rpy="0.0 0.0 0.0" />
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  <joint name="wheel2_passive10" type="continuous">
    <origin xyz="0.0167519 0.023057 -0.01" rpy="-2.51327 1.5708 0.0" />
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  <material name="bearing_31_material">
    <color rgba="0.647059 0.647059 0.647059 1.0" />
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  <link name="pin_bearing_oring_31">
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      <origin xyz="1.9082e-17 6.245e-17 0.002" rpy="-3.14159 4.5617e-17 -2.12484e-17" />
      <geometry>
        <mesh filename="package://assets/bearing.stl" />
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      <material name="bearing_31_material" />
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    <collision>
      <origin xyz="1.92029e-17 6.25311e-17 -1.25767e-16" rpy="-3.14159 4.5617e-17 -2.12484e-17" />
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      <origin xyz="1.69508e-17 5.52675e-17 -1.1148e-16" rpy="0.0 0.0 0.0" />
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  <joint name="wheel2_passive11" type="continuous">
    <origin xyz="0.00880698 0.0271051 -0.01" rpy="1.5708 1.28548e-16 -1.88496" />
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  <material name="bearing_32_material">
    <color rgba="0.647059 0.647059 0.647059 1.0" />
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  <link name="pin_bearing_oring_32">
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      <origin xyz="-1.38778e-17 -9.88792e-17 0.002" rpy="3.14159 -4.40885e-17 4.45425e-30" />
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      <material name="bearing_32_material" />
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    <collision>
      <origin xyz="-1.40175e-17 -9.88792e-17 -1.24466e-16" rpy="3.14159 -4.40885e-17 4.45425e-30" />
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      <origin xyz="-1.10858e-17 -8.80267e-17 -1.10516e-16" rpy="0.0 0.0 0.0" />
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  <joint name="wheel2_passive12" type="continuous">
    <origin xyz="1.8894e-18 0.0285 -0.01" rpy="-3.14159 1.5708 0.0" />
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  <material name="bearing_33_material">
    <color rgba="0.647059 0.647059 0.647059 1.0" />
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  <link name="pin_bearing_oring_33">
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      <origin xyz="6.93889e-18 -7.97973e-17 0.002" rpy="-3.14159 1.42795e-17 -9.87703e-18" />
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      <material name="bearing_33_material" />
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    <collision>
      <origin xyz="7.03969e-18 -7.98609e-17 -1.32273e-16" rpy="-3.14159 1.42795e-17 -9.87703e-18" />
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  <joint name="wheel2_passive13" type="continuous">
    <origin xyz="-0.00880698 0.0271051 -0.01" rpy="-0.314159 1.5708 0.0" />
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  <material name="bearing_34_material">
    <color rgba="0.647059 0.647059 0.647059 1.0" />
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  <link name="pin_bearing_oring_34">
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      <origin xyz="0.0 -5.55112e-17 0.002" rpy="-3.14159 -1.9915e-17 -3.01683e-17" />
      <geometry>
        <mesh filename="package://assets/bearing.stl" />
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      <material name="bearing_34_material" />
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    <collision>
      <origin xyz="-1.84162e-19 -5.53348e-17 -1.09288e-16" rpy="-3.14159 -1.9915e-17 -3.01683e-17" />
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  <joint name="wheel2_passive14" type="continuous">
    <origin xyz="-0.0167519 0.023057 -0.01" rpy="-0.628319 1.5708 0.0" />
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  <material name="bearing_35_material">
    <color rgba="0.647059 0.647059 0.647059 1.0" />
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  <link name="pin_bearing_oring_35">
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      <origin xyz="2.08167e-17 -2.42861e-17 0.002" rpy="3.14159 -3.40258e-17 4.30573e-17" />
      <geometry>
        <mesh filename="package://assets/bearing.stl" />
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      <material name="bearing_35_material" />
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    <collision>
      <origin xyz="2.07129e-17 -2.42389e-17 -1.17961e-16" rpy="3.14159 -3.40258e-17 4.30573e-17" />
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      <origin xyz="1.67069e-17 -2.14799e-17 -1.04107e-16" rpy="0.0 0.0 0.0" />
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  <joint name="wheel2_passive15" type="continuous">
    <origin xyz="-0.023057 0.0167519 -0.01" rpy="-0.942478 1.5708 0.0" />
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    <limit effort="10.0" velocity="10.0" />
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  <material name="bearing_36_material">
    <color rgba="0.647059 0.647059 0.647059 1.0" />
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  <link name="pin_bearing_oring_36">
    <visual>
      <origin xyz="-2.08167e-17 9.02056e-17 0.002" rpy="3.14159 -1.00739e-17 2.60998e-17" />
      <geometry>
        <mesh filename="package://assets/bearing.stl" />
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      <material name="bearing_36_material" />
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    <color rgba="0.8 0.8 0.8 1.0" />
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      <origin xyz="0.0 -1.73472e-18 0.0" rpy="0.0 -0.0 3.77194e-17" />
      <geometry>
        <mesh filename="package://assets/m3_spacer__length_0_006_meter.stl" />
      </geometry>
      <material name="m3_spacer__length_0_006_meter_2_material" />
    </visual>
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      <origin xyz="1.51661e-19 -1.1738e-18 0.0043556" rpy="0.0 0.0 0.0" />
      <mass value="0.00128938" />
      <inertia ixx="1.24082e-08" ixy="2.90094e-25" ixz="0.0" iyy="1.24082e-08" iyz="0.0" izz="5.24648e-09" />
    </inertial>
  </link>
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    <origin xyz="-0.0335404 -0.00810625 0.0245" rpy="0.0 -0.0 0.523599" />
    <parent link="base" />
    <child link="base_m3_spacer__length_0_006_meter_2" />
  </joint>
  <material name="m3_spacer__length_0_006_meter_3_material">
    <color rgba="0.8 0.8 0.8 1.0" />
  </material>
  <link name="base_m3_spacer__length_0_006_meter_3">
    <visual>
      <origin xyz="0.0 1.73472e-18 0.0" rpy="0.0 -0.0 -4.0637e-17" />
      <geometry>
        <mesh filename="package://assets/m3_spacer__length_0_006_meter.stl" />
      </geometry>
      <material name="m3_spacer__length_0_006_meter_3_material" />
    </visual>
    <inertial>
      <origin xyz="1.51661e-19 2.29564e-18 0.0043556" rpy="0.0 0.0 0.0" />
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      <inertia ixx="1.24082e-08" ixy="2.34015e-25" ixz="0.0" iyy="1.24082e-08" iyz="0.0" izz="5.24648e-09" />
    </inertial>
  </link>
  <joint name="base_m3_spacer__length_0_006_meter_3_fixed" type="fixed">
    <origin xyz="0.0237904 -0.0249937 0.0245" rpy="0.0 -0.0 2.61799" />
    <parent link="base" />
    <child link="base_m3_spacer__length_0_006_meter_3" />
  </joint>
  <material name="m3_spacer__length_0_006_meter_4_material">
    <color rgba="0.8 0.8 0.8 1.0" />
  </material>
  <link name="base_m3_spacer__length_0_006_meter_4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 3.08149e-32" />
      <geometry>
        <mesh filename="package://assets/m3_spacer__length_0_006_meter.stl" />
      </geometry>
      <material name="m3_spacer__length_0_006_meter_4_material" />
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    <inertial>
      <origin xyz="1.51661e-19 5.6092e-19 0.0043556" rpy="0.0 0.0 0.0" />
      <mass value="0.00128938" />
      <inertia ixx="1.24082e-08" ixy="6.88244e-40" ixz="0.0" iyy="1.24082e-08" iyz="0.0" izz="5.24648e-09" />
    </inertial>
  </link>
  <joint name="base_m3_spacer__length_0_006_meter_4_fixed" type="fixed">
    <origin xyz="0.00975 0.0331 0.0245" rpy="0.0 -0.0 -1.5708" />
    <parent link="base" />
    <child link="base_m3_spacer__length_0_006_meter_4" />
  </joint>
  <material name="m3_spacer__length_0_006_meter_5_material">
    <color rgba="0.8 0.8 0.8 1.0" />
  </material>
  <link name="base_m3_spacer__length_0_006_meter_5">
    <visual>
      <origin xyz="0.0 1.73472e-18 0.0" rpy="0.0 -0.0 -4.0637e-17" />
      <geometry>
        <mesh filename="package://assets/m3_spacer__length_0_006_meter.stl" />
      </geometry>
      <material name="m3_spacer__length_0_006_meter_5_material" />
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    <inertial>
      <origin xyz="1.51661e-19 2.29564e-18 0.0043556" rpy="0.0 0.0 0.0" />
      <mass value="0.00128938" />
      <inertia ixx="1.24082e-08" ixy="2.34015e-25" ixz="0.0" iyy="1.24082e-08" iyz="0.0" izz="5.24648e-09" />
    </inertial>
  </link>
  <joint name="base_m3_spacer__length_0_006_meter_5_fixed" type="fixed">
    <origin xyz="0.0335404 -0.00810625 0.0245" rpy="0.0 -0.0 2.61799" />
    <parent link="base" />
    <child link="base_m3_spacer__length_0_006_meter_5" />
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  <material name="m3_spacer__length_0_006_meter_6_material">
    <color rgba="0.8 0.8 0.8 1.0" />
  </material>
  <link name="base_m3_spacer__length_0_006_meter_6">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 3.08149e-32" />
      <geometry>
        <mesh filename="package://assets/m3_spacer__length_0_006_meter.stl" />
      </geometry>
      <material name="m3_spacer__length_0_006_meter_6_material" />
    </visual>
    <inertial>
      <origin xyz="1.51661e-19 5.6092e-19 0.0043556" rpy="0.0 0.0 0.0" />
      <mass value="0.00128938" />
      <inertia ixx="1.24082e-08" ixy="6.88244e-40" ixz="0.0" iyy="1.24082e-08" iyz="0.0" izz="5.24648e-09" />
    </inertial>
  </link>
  <joint name="base_m3_spacer__length_0_006_meter_6_fixed" type="fixed">
    <origin xyz="-0.00975 0.0331 0.0245" rpy="0.0 -0.0 -1.5708" />
    <parent link="base" />
    <child link="base_m3_spacer__length_0_006_meter_6" />
  </joint>
  <material name="n20_3_material">
    <color rgba="0.917647 0.72549 0.490196 1.0" />
  </material>
  <link name="base_n20_3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 -2.57628e-17" />
      <geometry>
        <mesh filename="package://assets/n20.stl" />
      </geometry>
      <material name="n20_3_material" />
    </visual>
    <inertial>
      <origin xyz="0.006 0.0143094 0.00585908" rpy="0.0 0.0 0.0" />
      <mass value="0.0115526" />
      <inertia ixx="1.21524e-06" ixy="-1.45226e-23" ixz="6.50613e-24" iyy="3.02377e-07" iyz="1.17204e-07" izz="1.18608e-06" />
    </inertial>
  </link>
  <joint name="base_n20_3_fixed" type="fixed">
    <origin xyz="0.017376 -0.00310385 0.012" rpy="0.0 -0.0 -2.0944" />
    <parent link="base" />
    <child link="base_n20_3" />
  </joint>
  <material name="motorbox_top_3_material">
    <color rgba="0.917647 0.917647 0.917647 1.0" />
  </material>
  <link name="base_motorbox_top_3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 5.15256e-17" />
      <geometry>
        <mesh filename="package://assets/motorbox_top.stl" />
      </geometry>
      <material name="motorbox_top_3_material" />
    </visual>
    <inertial>
      <origin xyz="0.006 0.0165087 0.00722774" rpy="0.0 0.0 0.0" />
      <mass value="0.00309324" />
      <inertia ixx="1.89426e-07" ixy="-6.28766e-14" ixz="3.54306e-14" iyy="2.32174e-07" iyz="-2.34602e-09" izz="3.12459e-07" />
    </inertial>
  </link>
  <joint name="base_motorbox_top_3_fixed" type="fixed">
    <origin xyz="0.017376 -0.00310385 0.012" rpy="0.0 -0.0 -2.0944" />
    <parent link="base" />
    <child link="base_motorbox_top_3" />
  </joint>
  <material name="motorbox_bottom_3_material">
    <color rgba="0.917647 0.917647 0.917647 1.0" />
  </material>
  <link name="base_motorbox_bottom_3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 2.97483e-17" />
      <geometry>
        <mesh filename="package://assets/motorbox_bottom.stl" />
      </geometry>
      <material name="motorbox_bottom_3_material" />
    </visual>
    <inertial>
      <origin xyz="0.006 0.0173508 -0.00614326" rpy="0.0 0.0 0.0" />
      <mass value="0.00516874" />
      <inertia ixx="2.91142e-07" ixy="8.661e-24" ixz="0.0" iyy="2.02751e-07" iyz="6.28953e-09" izz="3.75001e-07" />
    </inertial>
  </link>
  <joint name="base_motorbox_bottom_3_fixed" type="fixed">
    <origin xyz="0.017376 -0.00310385 0.012" rpy="0.0 -0.0 -2.0944" />
    <parent link="base" />
    <child link="base_motorbox_bottom_3" />
  </joint>
</robot>
