<?xml version="1.0" ?>
<!-- Generated using onshape-to-robot -->
<!-- Onshape document_id: a46db25adb1f3ef15157e9fe -->
<robot name="LinearBot">
  <!-- Holonomic base: virtual joints for x, y, yaw -->
  <!-- <link name="world"/>
  <link name="world_x"/>
  <link name="world_xy"/>
  <joint name="base_x" type="prismatic">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="5000" lower="-25.0" upper="25.0" velocity="0.5"/>
    <parent link="world"/>
    <child link="world_x"/>
  </joint>
  <joint name="base_y" type="prismatic">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit effort="5000" lower="-25.0" upper="25.0" velocity="0.5"/>
    <parent link="world_x"/>
    <child link="world_xy"/>
  </joint>
  <joint name="base_theta" type="continuous">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="287.0" lower="-3.14159" upper="3.14159" velocity="1.0471975512"/>
    <parent link="world_xy"/>
    <child link="base"/>
  </joint> -->
  <!-- END: Holonomic base virtual joints -->

  <!-- Link base -->
  <link name="base">
    <inertial>
      <origin xyz="-0.000869021 -0.0019276 0.369731" rpy="0 0 0"/>
      <mass value="82.8021"/>
      <inertia ixx="18.335" ixy="0.00396282" ixz="0.083126" iyy="18.1812" iyz="0.09574" izz="2.62218"/>
    </inertial>
    <!-- Part linear_lift -->
    <visual>
      <origin xyz="0.2 0.397678 0.011" rpy="0 0 0"/>
      <geometry>
        <mesh filename="assets/linear_lift.stl"/>
      </geometry>
      <material name="linear_lift_material">
        <color rgba="0.611765 0.658824 0.670588 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.2 0.397678 0.011" rpy="0 0 0"/>
      <geometry>
        <mesh filename="assets/linear_lift.stl"/>
      </geometry>
    </collision>
    <!-- Part linear_cable_cover -->
    <visual>
      <origin xyz="0.2 0.396678 -0.049" rpy="0 0 -0"/>
      <geometry>
        <mesh filename="assets/linear_cable_cover.stl"/>
      </geometry>
      <material name="linear_cable_cover_material">
        <color rgba="0.611765 0.658824 0.670588 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.2 0.396678 -0.049" rpy="0 0 -0"/>
      <geometry>
        <mesh filename="assets/linear_cable_cover.stl"/>
      </geometry>
    </collision>
    <!-- Part base -->
    <visual>
      <origin xyz="0.2 0.396 0.011" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="assets/base.stl"/>
      </geometry>
      <material name="base_material">
        <color rgba="1 0.6 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.2 0.396 0.011" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="assets/base.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link lift_link -->
  <link name="lift_link">
    <inertial>
      <origin xyz="-0 -0.12333 0.0358393" rpy="0 0 0"/>
      <mass value="3.6"/>
      <inertia ixx="0.0154304" ixy="0" ixz="0" iyy="0.104973" iyz="0.00382801" izz="0.11072"/>
    </inertial>
    <!-- Part linear_lift_holder -->
    <visual>
      <origin xyz="0.200004 0.443 -0.956366" rpy="0 0 -0"/>
      <geometry>
        <mesh filename="assets/linear_lift_holder.stl"/>
      </geometry>
      <material name="lift_link_material">
        <color rgba="1 0.6 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.200004 0.443 -0.956366" rpy="0 0 -0"/>
      <geometry>
        <mesh filename="assets/linear_lift_holder.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_base_R -->
  <link name="arm_base_R">
    <inertial>
      <origin xyz="0.0540477 -4.80361e-05 -0.0296807" rpy="0 0 0"/>
      <mass value="0.734557"/>
      <inertia ixx="0.000578564" ixy="2.56766e-07" ixz="5.70784e-07" iyy="0.000690499" iyz="-4.182e-08" izz="0.000601653"/>
    </inertial>
    <!-- Part base_2 -->
    <visual>
      <origin xyz="0.559004 -0.596 1.03637" rpy="-3.14159 -0 0"/>
      <geometry>
        <mesh filename="assets/base__2.stl"/>
      </geometry>
      <material name="arm_base_R_material">
        <color rgba="0.768627 0.886275 0.952941 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.559004 -0.596 1.03637" rpy="-3.14159 -0 0"/>
      <geometry>
        <mesh filename="assets/base__2.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link1_R -->
  <link name="arm_link1_R">
    <inertial>
      <origin xyz="0.00218874 0.00694644 -0.0176252" rpy="0 0 0"/>
      <mass value="0.0623673"/>
      <inertia ixx="2.94549e-05" ixy="-1.86138e-06" ixz="3.46493e-06" iyy="7.77432e-05" iyz="8.30006e-06" izz="7.07232e-05"/>
    </inertial>
    <!-- Part link1 -->
    <visual>
      <origin xyz="0.504575 -0.596494 1.11047" rpy="-3.14159 0 -0"/>
      <geometry>
        <mesh filename="assets/link1.stl"/>
      </geometry>
      <material name="arm_link1_R_material">
        <color rgba="0.72549 0.45098 0.317647 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.504575 -0.596494 1.11047" rpy="-3.14159 0 -0"/>
      <geometry>
        <mesh filename="assets/link1.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link2_R -->
  <link name="arm_link2_R">
    <inertial>
      <origin xyz="0.129165 0.000134497 -0.0321253" rpy="0 0 0"/>
      <mass value="0.982664"/>
      <inertia ixx="0.000535177" ixy="-2.89124e-07" ixz="2.09073e-06" iyy="0.00981181" iyz="-6.833e-09" izz="0.00976522"/>
    </inertial>
    <!-- Part link2 -->
    <visual>
      <origin xyz="0.615999 1.14987 -0.537854" rpy="1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/link2.stl"/>
      </geometry>
      <material name="arm_link2_R_material">
        <color rgba="0 0.4 0.6 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.615999 1.14987 -0.537854" rpy="1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/link2.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link3_R -->
  <link name="arm_link3_R">
    <inertial>
      <origin xyz="-0.135083 0.0556042 0.0340514" rpy="0 0 0"/>
      <mass value="0.820846"/>
      <inertia ixx="0.000783297" ixy="0.000535247" ixz="9.18771e-06" iyy="0.0063404" iyz="3.64283e-06" izz="0.00637508"/>
    </inertial>
    <!-- Part link3 -->
    <visual>
      <origin xyz="0.351998 -1.14987 0.539904" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/link3.stl"/>
      </geometry>
      <material name="arm_link3_R_material">
        <color rgba="0.552941 0.580392 0.203922 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.351998 -1.14987 0.539904" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/link3.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link4_R -->
  <link name="arm_link4_R">
    <inertial>
      <origin xyz="-0.0570681 0.0543529 0.0332231" rpy="0 0 0"/>
      <mass value="0.231537"/>
      <inertia ixx="0.000309559" ixy="0.000124563" ixz="-1.06975e-05" iyy="0.000243445" iyz="1.06538e-05" izz="0.000391887"/>
    </inertial>
    <!-- Part link4 -->
    <visual>
      <origin xyz="0.596998 -1.21007 0.537392" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/link4.stl"/>
      </geometry>
      <material name="arm_link4_R_material">
        <color rgba="0.545098 0.52549 0.419608 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.596998 -1.21007 0.537392" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/link4.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link5_R -->
  <link name="arm_link5_R">
    <inertial>
      <origin xyz="3.55003e-05 -0.000825911 -0.0375847" rpy="0 0 0"/>
      <mass value="0.152422"/>
      <inertia ixx="8.30655e-05" ixy="1.32145e-07" ixz="7.9573e-08" iyy="6.84253e-05" iyz="-4.88181e-06" izz="6.96461e-05"/>
    </inertial>
    <!-- Part link5 -->
    <visual>
      <origin xyz="0.505003 0.670997 -1.25037" rpy="0 -0 -0"/>
      <geometry>
        <mesh filename="assets/link5.stl"/>
      </geometry>
      <material name="arm_link5_R_material">
        <color rgba="0.827451 0.623529 0.784314 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.505003 0.670997 -1.25037" rpy="0 -0 -0"/>
      <geometry>
        <mesh filename="assets/link5.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link gripper_R -->
  <link name="gripper_R">
    <inertial>
      <origin xyz="-0.000249372 -3.57061e-05 -0.0293133" rpy="0 0 0"/>
      <mass value="0.177713"/>
      <inertia ixx="0.000104382" ixy="-1.75052e-07" ixz="1.55464e-06" iyy="0.000131599" iyz="2.54183e-07" izz="0.000118615"/>
    </inertial>
    <!-- Part gripper -->
    <visual>
      <origin xyz="0.505003 1.20987 0.706597" rpy="1.5708 0 0"/>
      <geometry>
        <mesh filename="assets/gripper.stl"/>
      </geometry>
      <material name="gripper_R_material">
        <color rgba="0.109804 0.286275 0.0117647 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.505003 1.20987 0.706597" rpy="1.5708 0 0"/>
      <geometry>
        <mesh filename="assets/gripper.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link tip_left_R -->
  <link name="tip_left_R">
    <inertial>
      <origin xyz="-0.0221613 0.0130864 -0.0425915" rpy="0 0 0"/>
      <mass value="0.0514225"/>
      <inertia ixx="3.53036e-05" ixy="7.3833e-06" ixz="-8.42006e-06" iyy="3.79463e-05" iyz="8.16127e-06" izz="3.68153e-05"/>
    </inertial>
    <!-- Part tip_left -->
    <visual>
      <origin xyz="0.763897 -1.18737 0.459941" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/tip_left.stl"/>
      </geometry>
      <material name="tip_left_R_material">
        <color rgba="0.596078 0.788235 0.921569 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.763897 -1.18737 0.459941" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/tip_left.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Joint from gripper_R to tip_left_R -->
  <joint name="joint7_R" type="prismatic">
    <origin xyz="0.0450619 0.0225 -0.0573" rpy="3.14159 -1.5708 0"/>
    <parent link="gripper_R"/>
    <child link="tip_left_R"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-0.0475" upper="0"/>
  </joint>
  <!-- Link tip_right_R -->
  <link name="tip_right_R">
    <inertial>
      <origin xyz="-0.0221613 0.0130864 -0.0425915" rpy="0 0 0"/>
      <mass value="0.0514225"/>
      <inertia ixx="3.53036e-05" ixy="7.3833e-06" ixz="-8.42006e-06" iyy="3.79463e-05" iyz="8.16127e-06" izz="3.68153e-05"/>
    </inertial>
    <!-- Part tip_right -->
    <visual>
      <origin xyz="0.763897 1.23237 -0.550065" rpy="1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/tip_right.stl"/>
      </geometry>
      <material name="tip_right_R_material">
        <color rgba="0.596078 0.788235 0.921569 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.763897 1.23237 -0.550065" rpy="1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/tip_right.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Joint from gripper_R to tip_right_R -->
  <joint name="joint8_R" type="prismatic">
    <origin xyz="-0.0450619 -0.0225 -0.0573" rpy="-0 -1.5708 0"/>
    <parent link="gripper_R"/>
    <child link="tip_right_R"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-0.0475" upper="0"/>
  </joint>
  <!-- Joint from arm_link5_R to gripper_R -->
  <joint name="joint6_R" type="revolute">
    <origin xyz="-2.39858e-07 -0.0356 -0.0404996" rpy="-1.5708 -0 0"/>
    <parent link="arm_link5_R"/>
    <child link="gripper_R"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-2.0944" upper="2.0944"/>
  </joint>
  <!-- Joint from arm_link4_R to arm_link5_R -->
  <joint name="joint5_R" type="revolute">
    <origin xyz="-0.0739989 0.0403003 0.0323887" rpy="-1.5708 -1.5708 0"/>
    <parent link="arm_link4_R"/>
    <child link="arm_link5_R"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-1.5708" upper="1.5708"/>
  </joint>
  <!-- Joint from arm_link3_R to arm_link4_R -->
  <joint name="joint4_R" type="revolute">
    <origin xyz="-0.244999 0.0600003 0.00205" rpy="0 0 0"/>
    <parent link="arm_link3_R"/>
    <child link="arm_link4_R"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-1.5708" upper="1.5708"/>
  </joint>
  <!-- Joint from arm_link2_R to arm_link3_R -->
  <joint name="joint3_R" type="revolute">
    <origin xyz="0.264 4.08431e-07 0.00205" rpy="3.14159 0 0"/>
    <parent link="arm_link2_R"/>
    <child link="arm_link3_R"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.14159" upper="0"/>
  </joint>
  <!-- Joint from arm_link1_R to arm_link2_R -->
  <joint name="joint2_R" type="revolute">
    <origin xyz="-0.033279 0.0195056 -0.0394" rpy="1.5708 0 -1.5708"/>
    <parent link="arm_link1_R"/>
    <child link="arm_link2_R"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.14159" upper="0"/>
  </joint>
  <!-- Joint from arm_base_R to arm_link1_R -->
  <joint name="joint1_R" type="revolute">
    <origin xyz="0.054 0 -0.0741" rpy="-0 0 0"/>
    <parent link="arm_base_R"/>
    <child link="arm_link1_R"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.05433" upper="2.61799"/>
  </joint>
  <!-- Joint from lift_link to arm_base_R -->
  <joint name="joint0_R" type="fixed">
    <origin xyz="-0.3725 -0.153 0.08075" rpy="-3.14159 0 -0"/>
    <parent link="lift_link"/>
    <child link="arm_base_R"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10"/>
  </joint>
  <!-- Link arm_base_L -->
  <link name="arm_base_L">
    <inertial>
      <origin xyz="-0.0539523 -4.80361e-05 -0.0296807" rpy="0 0 0"/>
      <mass value="0.734557"/>
      <inertia ixx="0.000578564" ixy="2.56766e-07" ixz="5.70784e-07" iyy="0.000690499" iyz="-4.182e-08" izz="0.000601653"/>
    </inertial>
    <!-- Part base_3 -->
    <visual>
      <origin xyz="0.451004 -0.596 1.03637" rpy="-3.14159 -0 0"/>
      <geometry>
        <mesh filename="assets/base__2.stl"/>
      </geometry>
      <material name="arm_base_L_material">
        <color rgba="0.768627 0.886275 0.952941 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.451004 -0.596 1.03637" rpy="-3.14159 -0 0"/>
      <geometry>
        <mesh filename="assets/base__2.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link1_L -->
  <link name="arm_link1_L">
    <inertial>
      <origin xyz="0.00218874 0.00694644 -0.0176252" rpy="0 0 0"/>
      <mass value="0.0623673"/>
      <inertia ixx="2.94549e-05" ixy="-1.86138e-06" ixz="3.46493e-06" iyy="7.77432e-05" iyz="8.30006e-06" izz="7.07232e-05"/>
    </inertial>
    <!-- Part link1_2 -->
    <visual>
      <origin xyz="0.504575 -0.596494 1.11047" rpy="-3.14159 -0 0"/>
      <geometry>
        <mesh filename="assets/link1.stl"/>
      </geometry>
      <material name="arm_link1_L_material">
        <color rgba="0.72549 0.45098 0.317647 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.504575 -0.596494 1.11047" rpy="-3.14159 -0 0"/>
      <geometry>
        <mesh filename="assets/link1.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link2_L -->
  <link name="arm_link2_L">
    <inertial>
      <origin xyz="0.129165 -0.000134497 -0.0336247" rpy="0 0 0"/>
      <mass value="0.982664"/>
      <inertia ixx="0.000535177" ixy="2.89124e-07" ixz="-2.09073e-06" iyy="0.00981181" iyz="-6.833e-09" izz="0.00976522"/>
    </inertial>
    <!-- Part link2_2 -->
    <visual>
      <origin xyz="0.615999 -1.14987 0.472104" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/link2.stl"/>
      </geometry>
      <material name="arm_link2_L_material">
        <color rgba="0 0.4 0.6 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.615999 -1.14987 0.472104" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/link2.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link3_L -->
  <link name="arm_link3_L">
    <inertial>
      <origin xyz="-0.135083 -0.0556042 0.0357986" rpy="0 0 0"/>
      <mass value="0.820846"/>
      <inertia ixx="0.000783297" ixy="-0.000535247" ixz="-9.18771e-06" iyy="0.0063404" iyz="3.64283e-06" izz="0.00637508"/>
    </inertial>
    <!-- Part link3_2 -->
    <visual>
      <origin xyz="0.351998 1.14987 -0.470054" rpy="1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/link3.stl"/>
      </geometry>
      <material name="arm_link3_L_material">
        <color rgba="0.552941 0.580392 0.203922 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.351998 1.14987 -0.470054" rpy="1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/link3.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link4_L -->
  <link name="arm_link4_L">
    <inertial>
      <origin xyz="-0.0570681 0.0543529 0.0332231" rpy="0 0 0"/>
      <mass value="0.231537"/>
      <inertia ixx="0.000309559" ixy="0.000124563" ixz="-1.06975e-05" iyy="0.000243445" iyz="1.06538e-05" izz="0.000391887"/>
    </inertial>
    <!-- Part link4_2 -->
    <visual>
      <origin xyz="0.596998 -1.21007 0.537392" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/link4.stl"/>
      </geometry>
      <material name="arm_link4_L_material">
        <color rgba="0.545098 0.52549 0.419608 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.596998 -1.21007 0.537392" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/link4.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link5_L -->
  <link name="arm_link5_L">
    <inertial>
      <origin xyz="3.55003e-05 -0.000825911 -0.0375847" rpy="0 0 0"/>
      <mass value="0.152422"/>
      <inertia ixx="8.30655e-05" ixy="1.32145e-07" ixz="7.9573e-08" iyy="6.84253e-05" iyz="-4.88181e-06" izz="6.96461e-05"/>
    </inertial>
    <!-- Part link5_2 -->
    <visual>
      <origin xyz="0.505003 0.670997 -1.25037" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="assets/link5.stl"/>
      </geometry>
      <material name="arm_link5_L_material">
        <color rgba="0.827451 0.623529 0.784314 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.505003 0.670997 -1.25037" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="assets/link5.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link gripper_L -->
  <link name="gripper_L">
    <inertial>
      <origin xyz="-0.00267181 8.62109e-05 -0.0293133" rpy="0 0 0"/>
      <mass value="0.177713"/>
      <inertia ixx="0.000104382" ixy="-1.75052e-07" ixz="1.55464e-06" iyy="0.000131599" iyz="2.54183e-07" izz="0.000118615"/>
    </inertial>
    <!-- Part gripper_2 -->
    <visual>
      <origin xyz="0.502581 1.20999 0.706597" rpy="1.5708 -0 0"/>
      <geometry>
        <mesh filename="assets/gripper.stl"/>
      </geometry>
      <material name="gripper_L_material">
        <color rgba="0.109804 0.286275 0.0117647 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.502581 1.20999 0.706597" rpy="1.5708 -0 0"/>
      <geometry>
        <mesh filename="assets/gripper.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link tip_left_L -->
  <link name="tip_left_L">
    <inertial>
      <origin xyz="-0.0221613 0.0130864 -0.0425915" rpy="0 0 0"/>
      <mass value="0.0514225"/>
      <inertia ixx="3.53036e-05" ixy="7.3833e-06" ixz="-8.42006e-06" iyy="3.79463e-05" iyz="8.16127e-06" izz="3.68153e-05"/>
    </inertial>
    <!-- Part tip_left_2 -->
    <visual>
      <origin xyz="0.763897 -1.18737 0.459941" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/tip_left.stl"/>
      </geometry>
      <material name="tip_left_L_material">
        <color rgba="0.596078 0.788235 0.921569 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.763897 -1.18737 0.459941" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/tip_left.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Joint from gripper_L to tip_left_L -->
  <joint name="joint7_L" type="prismatic">
    <origin xyz="-0.0048605 0.0226219 -0.0573" rpy="3.14159 -1.5708 0"/>
    <parent link="gripper_L"/>
    <child link="tip_left_L"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-0" upper="0.0475"/>
  </joint>
  <!-- Link tip_right_L -->
  <link name="tip_right_L">
    <inertial>
      <origin xyz="-0.0221613 0.0130864 -0.0425915" rpy="0 0 0"/>
      <mass value="0.0514225"/>
      <inertia ixx="3.53036e-05" ixy="7.3833e-06" ixz="-8.42006e-06" iyy="3.79463e-05" iyz="8.16127e-06" izz="3.68153e-05"/>
    </inertial>
    <!-- Part tip_right_2 -->
    <visual>
      <origin xyz="0.763897 1.23237 -0.550065" rpy="1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/tip_right.stl"/>
      </geometry>
      <material name="tip_right_L_material">
        <color rgba="0.596078 0.788235 0.921569 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.763897 1.23237 -0.550065" rpy="1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/tip_right.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Joint from gripper_L to tip_right_L -->
  <joint name="joint8_L" type="prismatic">
    <origin xyz="-0.0474844 -0.0223781 -0.0573" rpy="0 -1.5708 0"/>
    <parent link="gripper_L"/>
    <child link="tip_right_L"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-0.0475" upper="0"/>
  </joint>
  <!-- Joint from arm_link5_L to gripper_L -->
  <joint name="joint6_L" type="revolute">
    <origin xyz="-2.39858e-07 -0.0356 -0.0404996" rpy="-1.5708 0 0"/>
    <parent link="arm_link5_L"/>
    <child link="gripper_L"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-2.0944" upper="2.0944"/>
  </joint>
  <!-- Joint from arm_link4_L to arm_link5_L -->
  <joint name="joint5_L" type="revolute">
    <origin xyz="-0.0739989 0.0403003 0.0323887" rpy="-1.5708 -1.5708 0"/>
    <parent link="arm_link4_L"/>
    <child link="arm_link5_L"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-1.5708" upper="1.5708"/>
  </joint>
  <!-- Joint from arm_link3_L to arm_link4_L -->
  <joint name="joint4_L" type="revolute">
    <origin xyz="-0.244999 -0.0600003 0.0678" rpy="-3.14159 -0 -0"/>
    <parent link="arm_link3_L"/>
    <child link="arm_link4_L"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-1.5708" upper="1.5708"/>
  </joint>
  <!-- Joint from arm_link2_L to arm_link3_L -->
  <joint name="joint3_L" type="revolute">
    <origin xyz="0.264 -4.08431e-07 0.00205" rpy="-3.14159 -0 -0"/>
    <parent link="arm_link2_L"/>
    <child link="arm_link3_L"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="0" upper="3.14159"/>
  </joint>
  <!-- Joint from arm_link1_L to arm_link2_L -->
  <joint name="joint2_L" type="revolute">
    <origin xyz="0.032471 0.0195056 -0.0394" rpy="-1.5708 -0 -1.5708"/>
    <parent link="arm_link1_L"/>
    <child link="arm_link2_L"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="0" upper="3.14159"/>
  </joint>
  <!-- Joint from arm_base_L to arm_link1_L -->
  <joint name="joint1_L" type="revolute">
    <origin xyz="-0.054 -0 -0.0741" rpy="0 -0 0"/>
    <parent link="arm_base_L"/>
    <child link="arm_link1_L"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.05433" upper="2.61799"/>
  </joint>
  <!-- Joint from lift_link to arm_base_L -->
  <joint name="joint0_L" type="fixed">
    <origin xyz="0.3725 -0.153 0.08075" rpy="-3.14159 0 -0"/>
    <parent link="lift_link"/>
    <child link="arm_base_L"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10"/>
  </joint>
  <!-- Joint from base to lift_link -->
  <joint name="lift_joint" type="prismatic">
    <origin xyz="4.49505e-06 -0.0448218 1.04769" rpy="-0 -0 0"/>
    <parent link="base"/>
    <child link="lift_link"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-0.729187" upper="0.330813"/>
  </joint>
  <!-- Wheel links fixed to base (no DOF, visual/collision only) -->
  <!-- Link rr_steer_link -->
  <link name="rr_steer_link">
    <inertial>
      <origin xyz="-0.00784441 -0.0089515 -0.0459111" rpy="0 0 0"/>
      <mass value="0.126847"/>
      <inertia ixx="0.000146383" ixy="-1.16515e-05" ixz="-3.06168e-05" iyy="0.000225514" iyz="-3.22028e-05" izz="0.000145928"/>
    </inertial>
    <visual>
      <origin xyz="0.4 0.196 0.011" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="assets/motor7.stl"/>
      </geometry>
      <material name="rr_steer_link_material">
        <color rgba="0.298039 0.298039 0.298039 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.4 0.196 0.011" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="assets/motor7.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link rr_wheel_link -->
  <link name="rr_wheel_link">
    <inertial>
      <origin xyz="-0.00057187 -0.000419672 -0.0228248" rpy="0 0 0"/>
      <mass value="0.298689"/>
      <inertia ixx="0.000204289" ixy="-2.6002e-08" ixz="-5.45511e-07" iyy="0.000204306" iyz="-4.0034e-07" izz="0.000318426"/>
    </inertial>
    <visual>
      <origin xyz="0.215293 -0.0865185 -0.42495" rpy="1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/motor8.stl"/>
      </geometry>
      <material name="rr_wheel_link_material">
        <color rgba="0.298039 0.298039 0.298039 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.215293 -0.0865185 -0.42495" rpy="1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/motor8.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="rr_steer_joint" type="fixed">
    <origin xyz="-0.2 0.2 -0" rpy="0 -0 3.14159"/>
    <parent link="base"/>
    <child link="rr_steer_link"/>
  </joint>
  <joint name="rr_wheel_joint" type="fixed">
    <origin xyz="-0.0249502 -0.02 -0.075" rpy="-1.5708 -0 1.5708"/>
    <parent link="rr_steer_link"/>
    <child link="rr_wheel_link"/>
  </joint>
  <!-- Link rl_steer_link -->
  <link name="rl_steer_link">
    <inertial>
      <origin xyz="-0.00752959 0.00894046 -0.0457746" rpy="0 0 0"/>
      <mass value="0.124945"/>
      <inertia ixx="0.00014499" ixy="1.16695e-05" ixz="-3.03342e-05" iyy="0.000223675" iyz="3.18852e-05" izz="0.00014469"/>
    </inertial>
    <visual>
      <origin xyz="-0 -0.196 0.011" rpy="0 -0 3.14159"/>
      <geometry>
        <mesh filename="assets/motor1.stl"/>
      </geometry>
      <material name="rl_steer_link_material">
        <color rgba="0.298039 0.298039 0.298039 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0 -0.196 0.011" rpy="0 -0 3.14159"/>
      <geometry>
        <mesh filename="assets/motor1.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link rl_wheel_link -->
  <link name="rl_wheel_link">
    <inertial>
      <origin xyz="0 0 -0.0241102" rpy="0 0 0"/>
      <mass value="0.297603"/>
      <inertia ixx="0.000200747" ixy="0" ixz="0" iyy="0.000200747" iyz="0" izz="0.00031015"/>
    </inertial>
    <visual>
      <origin xyz="0.216 0.086 -0.0252" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/motor2.stl"/>
      </geometry>
      <material name="rl_wheel_link_material">
        <color rgba="0.298039 0.298039 0.298039 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.216 0.086 -0.0252" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/motor2.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="rl_steer_joint" type="fixed">
    <origin xyz="0.2 0.2 -0" rpy="0 -0 0"/>
    <parent link="base"/>
    <child link="rl_steer_link"/>
  </joint>
  <joint name="rl_wheel_joint" type="fixed">
    <origin xyz="-0.0252 0.02 -0.075" rpy="1.5708 -0 -1.5708"/>
    <parent link="rl_steer_link"/>
    <child link="rl_wheel_link"/>
  </joint>
  <!-- Link fr_steer_link -->
  <link name="fr_steer_link">
    <inertial>
      <origin xyz="-0.00752959 0.00894047 -0.0457746" rpy="0 0 0"/>
      <mass value="0.124945"/>
      <inertia ixx="0.00014499" ixy="1.16695e-05" ixz="-3.03342e-05" iyy="0.000223675" iyz="3.18852e-05" izz="0.00014469"/>
    </inertial>
    <visual>
      <origin xyz="0.4 0.596 0.011" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="assets/motor5.stl"/>
      </geometry>
      <material name="fr_steer_link_material">
        <color rgba="0.298039 0.298039 0.298039 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.4 0.596 0.011" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="assets/motor5.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link fr_wheel_link -->
  <link name="fr_wheel_link">
    <inertial>
      <origin xyz="-0 -0 -0.0241102" rpy="0 0 0"/>
      <mass value="0.297603"/>
      <inertia ixx="0.000200747" ixy="0" ixz="-0" iyy="0.000200747" iyz="0" izz="0.00031015"/>
    </inertial>
    <visual>
      <origin xyz="0.576 -0.086 -0.4252" rpy="1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/motor6.stl"/>
      </geometry>
      <material name="fr_wheel_link_material">
        <color rgba="0.298039 0.298039 0.298039 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.576 -0.086 -0.4252" rpy="1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/motor6.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="fr_steer_joint" type="fixed">
    <origin xyz="-0.2 -0.2 0" rpy="0 -0 0"/>
    <parent link="base"/>
    <child link="fr_steer_link"/>
  </joint>
  <joint name="fr_wheel_joint" type="fixed">
    <origin xyz="-0.0252 0.02 -0.075" rpy="-1.5708 -0 1.5708"/>
    <parent link="fr_steer_link"/>
    <child link="fr_wheel_link"/>
  </joint>
  <!-- Link fl_steer_link -->
  <link name="fl_steer_link">
    <inertial>
      <origin xyz="0.00784441 0.0089515 -0.0459111" rpy="0 0 0"/>
      <mass value="0.126847"/>
      <inertia ixx="0.000146383" ixy="-1.16515e-05" ixz="3.06168e-05" iyy="0.000225514" iyz="3.22028e-05" izz="0.000145928"/>
    </inertial>
    <visual>
      <origin xyz="0 0.596 0.011" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="assets/motor3.stl"/>
      </geometry>
      <material name="fl_steer_link_material">
        <color rgba="0.298039 0.298039 0.298039 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0.596 0.011" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="assets/motor3.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link fl_wheel_link -->
  <link name="fl_wheel_link">
    <inertial>
      <origin xyz="0.00057187 0.000419672 -0.0228248" rpy="0 0 0"/>
      <mass value="0.298689"/>
      <inertia ixx="0.000204289" ixy="-2.6002e-08" ixz="5.45511e-07" iyy="0.000204306" iyz="4.0034e-07" izz="0.000318426"/>
    </inertial>
    <visual>
      <origin xyz="0.576707 0.0865185 -0.0249502" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/motor4.stl"/>
      </geometry>
      <material name="fl_wheel_link_material">
        <color rgba="0.298039 0.298039 0.298039 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.576707 0.0865185 -0.0249502" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/motor4.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="fl_steer_joint" type="fixed">
    <origin xyz="0.2 -0.2 -0" rpy="0 -0 0"/>
    <parent link="base"/>
    <child link="fl_steer_link"/>
  </joint>
  <joint name="fl_wheel_joint" type="fixed">
    <origin xyz="0.0249502 0.02 -0.075" rpy="1.5708 -0 1.5708"/>
    <parent link="fl_steer_link"/>
    <child link="fl_wheel_link"/>
  </joint>
</robot>
