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2_75InchOmniExample.xml
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2_75InchOmniExample.xml
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<root>
<mobilebase>
<cadEngine>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleCad.groovy</file>
</cadEngine>
<driveEngine>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleWalking.groovy</file>
</driveEngine>
<name>OmniWheelGenerated</name>
<drivable>
<name>omniWheel</name>
<cadEngine>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleKinematics.groovy</file>
</kinematics>
<link>
<name>omniWheel_hub</name>
<deviceName>virtualDev</deviceName>
<type>virtual</type>
<index>0</index>
<scale>1.0</scale>
<upperLimit>100000.0</upperLimit>
<lowerLimit>-100000.0</lowerLimit>
<upperVelocity>1200.0</upperVelocity>
<lowerVelocity>-1200.0</lowerVelocity>
<staticOffset>0.0</staticOffset>
<deviceTheoreticalMax>2.147483646E9</deviceTheoreticalMax>
<deviceTheoreticalMin>-2.147483646E9</deviceTheoreticalMin>
<isLatch>false</isLatch>
<indexLatch>0.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>vexMotor</type>
<id>v5_11w</id>
<pose>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</pose>
<frame>lastlink</frame>
</vitamin>
<vitamin>
<name>shaft</name>
<type>vexWheels</type>
<id>2_75InchOmni</id>
<pose>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</pose>
<frame>origin</frame>
</vitamin>
</vitamins>
<passive>false</passive>
<mass>0.01</mass>
<centerOfMassFromCentroid>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</centerOfMassFromCentroid>
<imuFromCentroid>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>34.925</Radius>
<Alpha>0.0</Alpha>
<mobilebase>
<cadEngine>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleCad.groovy</file>
</cadEngine>
<driveEngine>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleWalking.groovy</file>
</driveEngine>
<name>RollerBase</name>
<drivable>
<name>omniWheel_roller_1</name>
<cadEngine>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleKinematics.groovy</file>
</kinematics>
<link>
<name>omniWheel_roller_1</name>
<deviceName>rollers</deviceName>
<type>virtual</type>
<index>0</index>
<scale>1.0</scale>
<upperLimit>100000.0</upperLimit>
<lowerLimit>-100000.0</lowerLimit>
<upperVelocity>1200.0</upperVelocity>
<lowerVelocity>-1200.0</lowerVelocity>
<staticOffset>0.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>false</isLatch>
<indexLatch>0.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>steelPin</type>
<id>2x10mm</id>
<pose>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</pose>
<frame>lastlink</frame>
</vitamin>
<vitamin>
<name>shaft</name>
<type>omniWheelRoller</type>
<id>4inch13Roller</id>
<pose>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</pose>
<frame>origin</frame>
</vitamin>
</vitamins>
<passive>true</passive>
<mass>0.01</mass>
<centerOfMassFromCentroid>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</centerOfMassFromCentroid>
<imuFromCentroid>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>0.0</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<ZframeToRAS
>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</ZframeToRAS>
<baseToZframe>
<x>30.925</x>
<y>0.0</y>
<z>4.0</z>
<rotw>0.7071067811865476</rotw>
<rotx>0.7071067811865475</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</baseToZframe>
</drivable>
<drivable>
<name>omniWheel_roller_2</name>
<cadEngine>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleKinematics.groovy</file>
</kinematics>
<link>
<name>omniWheel_roller_2</name>
<deviceName>rollers</deviceName>
<type>virtual</type>
<index>0</index>
<scale>1.0</scale>
<upperLimit>100000.0</upperLimit>
<lowerLimit>-100000.0</lowerLimit>
<upperVelocity>1200.0</upperVelocity>
<lowerVelocity>-1200.0</lowerVelocity>
<staticOffset>0.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>false</isLatch>
<indexLatch>0.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>steelPin</type>
<id>2x10mm</id>
<pose>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</pose>
<frame>lastlink</frame>
</vitamin>
<vitamin>
<name>shaft</name>
<type>omniWheelRoller</type>
<id>4inch13Roller</id>
<pose>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</pose>
<frame>origin</frame>
</vitamin>
</vitamins>
<passive>true</passive>
<mass>0.01</mass>
<centerOfMassFromCentroid>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</centerOfMassFromCentroid>
<imuFromCentroid>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>0.0</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<ZframeToRAS
>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</ZframeToRAS>
<baseToZframe>
<x>23.6899244034544</x>
<y>19.878206829556227</y>
<z>4.0</z>
<rotw>0.6644630243886748</rotw>
<rotx>0.6644630243886747</rotx>
<roty>0.24184476264797522</roty>
<rotz>0.24184476264797528</rotz>
</baseToZframe>
</drivable>
<drivable>
<name>omniWheel_roller_3</name>
<cadEngine>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleKinematics.groovy</file>
</kinematics>
<link>
<name>omniWheel_roller_3</name>
<deviceName>rollers</deviceName>
<type>virtual</type>
<index>0</index>
<scale>1.0</scale>
<upperLimit>100000.0</upperLimit>
<lowerLimit>-100000.0</lowerLimit>
<upperVelocity>1200.0</upperVelocity>
<lowerVelocity>-1200.0</lowerVelocity>
<staticOffset>0.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>false</isLatch>
<indexLatch>0.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>steelPin</type>
<id>2x10mm</id>
<pose>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</pose>
<frame>lastlink</frame>
</vitamin>
<vitamin>
<name>shaft</name>
<type>omniWheelRoller</type>
<id>4inch13Roller</id>
<pose>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</pose>
<frame>origin</frame>
</vitamin>
</vitamins>
<passive>true</passive>
<mass>0.01</mass>
<centerOfMassFromCentroid>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</centerOfMassFromCentroid>
<imuFromCentroid>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>0.0</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<ZframeToRAS
>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</ZframeToRAS>
<baseToZframe>
<x>5.370069894349827</x>
<y>30.455179761902535</y>
<z>4.0</z>
<rotw>0.541675220419702</rotw>
<rotx>0.5416752204197018</rotx>
<roty>0.4545194776720436</roty>
<rotz>0.4545194776720437</rotz>
</baseToZframe>
</drivable>
<drivable>
<name>omniWheel_roller_4</name>
<cadEngine>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleKinematics.groovy</file>
</kinematics>
<link>
<name>omniWheel_roller_4</name>
<deviceName>rollers</deviceName>
<type>virtual</type>
<index>0</index>
<scale>1.0</scale>
<upperLimit>100000.0</upperLimit>
<lowerLimit>-100000.0</lowerLimit>
<upperVelocity>1200.0</upperVelocity>
<lowerVelocity>-1200.0</lowerVelocity>
<staticOffset>0.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>false</isLatch>
<indexLatch>0.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>steelPin</type>
<id>2x10mm</id>
<pose>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</pose>
<frame>lastlink</frame>
</vitamin>
<vitamin>
<name>shaft</name>
<type>omniWheelRoller</type>
<id>4inch13Roller</id>
<pose>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</pose>
<frame>origin</frame>
</vitamin>
</vitamins>
<passive>true</passive>
<mass>0.01</mass>
<centerOfMassFromCentroid>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</centerOfMassFromCentroid>
<imuFromCentroid>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>0.0</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<ZframeToRAS
>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</ZframeToRAS>
<baseToZframe>
<x>-15.462499999999993</x>
<y>26.78183561203377</y>
<z>4.0</z>
<rotw>-0.3535533905932739</rotw>
<rotx>-0.3535533905932738</rotx>
<roty>-0.6123724356957945</roty>
<rotz>-0.6123724356957945</rotz>
</baseToZframe>
</drivable>
<drivable>
<name>omniWheel_roller_5</name>
<cadEngine>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleKinematics.groovy</file>
</kinematics>
<link>
<name>omniWheel_roller_5</name>
<deviceName>rollers</deviceName>
<type>virtual</type>
<index>0</index>
<scale>1.0</scale>
<upperLimit>100000.0</upperLimit>
<lowerLimit>-100000.0</lowerLimit>
<upperVelocity>1200.0</upperVelocity>
<lowerVelocity>-1200.0</lowerVelocity>
<staticOffset>0.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>false</isLatch>
<indexLatch>0.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>steelPin</type>
<id>2x10mm</id>
<pose>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</pose>
<frame>lastlink</frame>
</vitamin>
<vitamin>
<name>shaft</name>
<type>omniWheelRoller</type>
<id>4inch13Roller</id>
<pose>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</pose>
<frame>origin</frame>
</vitamin>
</vitamins>
<passive>true</passive>
<mass>0.01</mass>
<centerOfMassFromCentroid>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</centerOfMassFromCentroid>
<imuFromCentroid>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>0.0</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<ZframeToRAS
>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</ZframeToRAS>
<baseToZframe>
<x>-29.059994297804217</x>
<y>10.57697293234631</y>
<z>4.0</z>
<rotw>-0.1227878039689729</rotw>
<rotx>-0.12278780396897289</rotx>
<roty>-0.6963642403200189</roty>
<rotz>-0.696364240320019</rotz>
</baseToZframe>
</drivable>
<drivable>
<name>omniWheel_roller_6</name>
<cadEngine>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleKinematics.groovy</file>
</kinematics>
<link>
<name>omniWheel_roller_6</name>
<deviceName>rollers</deviceName>
<type>virtual</type>
<index>0</index>
<scale>1.0</scale>
<upperLimit>100000.0</upperLimit>
<lowerLimit>-100000.0</lowerLimit>
<upperVelocity>1200.0</upperVelocity>
<lowerVelocity>-1200.0</lowerVelocity>
<staticOffset>0.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>false</isLatch>
<indexLatch>0.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>steelPin</type>
<id>2x10mm</id>
<pose>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</pose>
<frame>lastlink</frame>
</vitamin>
<vitamin>
<name>shaft</name>
<type>omniWheelRoller</type>
<id>4inch13Roller</id>
<pose>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</pose>
<frame>origin</frame>
</vitamin>
</vitamins>
<passive>true</passive>
<mass>0.01</mass>
<centerOfMassFromCentroid>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</centerOfMassFromCentroid>
<imuFromCentroid>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>0.0</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<ZframeToRAS
>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</ZframeToRAS>
<baseToZframe>
<x>-29.05999429780422</x>
<y>-10.576972932346303</y>
<z>3.999999999999999</z>
<rotw>0.12278780396897283</rotw>
<rotx>0.1227878039689728</rotx>
<roty>-0.6963642403200189</roty>
<rotz>-0.696364240320019</rotz>
</baseToZframe>
</drivable>
<drivable>
<name>omniWheel_roller_7</name>
<cadEngine>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleKinematics.groovy</file>
</kinematics>
<link>
<name>omniWheel_roller_7</name>
<deviceName>rollers</deviceName>
<type>virtual</type>
<index>0</index>
<scale>1.0</scale>
<upperLimit>100000.0</upperLimit>
<lowerLimit>-100000.0</lowerLimit>
<upperVelocity>1200.0</upperVelocity>
<lowerVelocity>-1200.0</lowerVelocity>
<staticOffset>0.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>false</isLatch>
<indexLatch>0.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>steelPin</type>
<id>2x10mm</id>
<pose>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</pose>
<frame>lastlink</frame>
</vitamin>
<vitamin>
<name>shaft</name>
<type>omniWheelRoller</type>
<id>4inch13Roller</id>
<pose>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</pose>
<frame>origin</frame>
</vitamin>
</vitamins>
<passive>true</passive>
<mass>0.01</mass>
<centerOfMassFromCentroid>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</centerOfMassFromCentroid>
<imuFromCentroid>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</imuFromCentroid>
<DHParameters>
<Delta>0.0</Delta>
<Theta>0.0</Theta>
<Radius>0.0</Radius>
<Alpha>0.0</Alpha>
</DHParameters>
</link>
<ZframeToRAS
>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</ZframeToRAS>
<baseToZframe>
<x>-15.462500000000015</x>
<y>-26.78183561203376</y>
<z>4.0</z>
<rotw>0.35355339059327373</rotw>
<rotx>0.3535533905932737</rotx>
<roty>-0.6123724356957945</roty>
<rotz>-0.6123724356957948</rotz>
</baseToZframe>
</drivable>
<drivable>
<name>omniWheel_roller_8</name>
<cadEngine>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleCad.groovy</file>
</cadEngine>
<kinematics>
<git>https://github.com/CommonWealthRobotics/BowlerStudioExampleRobots.git</git>
<file>exampleKinematics.groovy</file>
</kinematics>
<link>
<name>omniWheel_roller_8</name>
<deviceName>rollers</deviceName>
<type>virtual</type>
<index>0</index>
<scale>1.0</scale>
<upperLimit>100000.0</upperLimit>
<lowerLimit>-100000.0</lowerLimit>
<upperVelocity>1200.0</upperVelocity>
<lowerVelocity>-1200.0</lowerVelocity>
<staticOffset>0.0</staticOffset>
<deviceTheoreticalMax>180.0</deviceTheoreticalMax>
<deviceTheoreticalMin>0.0</deviceTheoreticalMin>
<isLatch>false</isLatch>
<indexLatch>0.0</indexLatch>
<isStopOnLatch>false</isStopOnLatch>
<homingTPS>10000000</homingTPS>
<vitamins>
<vitamin>
<name>electroMechanical</name>
<type>steelPin</type>
<id>2x10mm</id>
<pose>
<x>0.0</x>
<y>0.0</y>
<z>0.0</z>
<rotw>1.0</rotw>
<rotx>-0.0</rotx>
<roty>-0.0</roty>
<rotz>-0.0</rotz>
</pose>
<frame>lastlink</frame>
</vitamin>
<vitamin>
<name>shaft</name>
<type>omniWheelRoller</type>
<id>4inch13Roller</id>
<pose>
<x>0.0</x>