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First, I changed the

<!-- Size of the base-->
<property name="base_x_size" value="0.98740000" /> 
<property name="base_y_size" value="0.57090000" />  
<property name="base_z_size" value="0.24750000" />

to the same thing I changed in the .stl file. So the this I am seeing is the same as the thing is constructed.

<property name="base_x_size" value="0.98740000"/>
 <property name="base_y_size" value="0.57090000"/>
 <property name="base_z_size" value="10"/>

To the same thing I changed in the .stl file. So the this I am seeing is the same as the thing is constructed. Second, I changed origin of collision from

   <origin xyz="0 0 ${wheel_x_size/2 - base_z_origin_to_wheel_origin - 0.02}" rpy="0 0 0 " />

to

 <origin xyz="0 0 5" rpy="0 0 0 "/>

and it worked, I dont know how but it did work.