HolonomicExample.xml

<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>uniqueName</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>uniqueName_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>100000.0</deviceTheoreticalMax>
	<deviceTheoreticalMin>-100000.0</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>4InchOmni</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>50.8</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>uniqueName_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>uniqueName_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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>50.8</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>uniqueName_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>uniqueName_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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>44.98116610318623</x>
	<y>23.607937139817405</y>
	<z>4.0</z>
	<rotw>0.6865595432395636</rotw>
	<rotx>0.6865595432395635</rotx>
	<roty>0.16922172906184926</roty>
	<rotz>0.1692217290618493</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_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>uniqueName_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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>28.857689133953944</x>
	<y>41.80758038739</y>
	<z>4.0</z>
	<rotw>0.6261119601819185</rotw>
	<rotx>0.6261119601819184</rotx>
	<roty>0.32860890632658724</roty>
	<rotz>0.3286089063265873</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_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>uniqueName_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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>6.12326335699072</x>
	<y>50.429610804178665</y>
	<z>4.0</z>
	<rotw>0.5292770258228963</rotw>
	<rotx>0.529277025822896</rotx>
	<roty>0.468898528400409</roty>
	<rotz>0.46889852840040913</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_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>uniqueName_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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>-18.01392826173532</x>
	<y>47.49882512842875</y>
	<z>4.000000000000002</z>
	<rotw>-0.4016824345667751</rotw>
	<rotx>-0.401682434566775</rotx>
	<roty>-0.5819374723804168</roty>
	<rotz>-0.5819374723804169</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_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>uniqueName_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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>-38.02434600706932</x>
	<y>33.68663103865792</y>
	<z>4.0</z>
	<rotw>-0.2507435202698886</rotw>
	<rotx>-0.25074352026988855</rotx>
	<roty>-0.6611563257223392</roty>
	<rotz>-0.6611563257223394</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_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>uniqueName_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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>-49.32384432523365</x>
	<y>12.157235745847665</y>
	<z>4.0</z>
	<rotw>-0.0852323039905363</rotw>
	<rotx>-0.08523230399053627</rotx>
	<roty>-0.7019511766187622</roty>
	<rotz>-0.7019511766187624</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_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>uniqueName_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>
	<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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>-49.32384432525486</x>
	<y>-12.157235745761591</y>
	<z>3.999999999999999</z>
	<rotw>0.08523230398992382</rotw>
	<rotx>0.08523230398992379</rotx>
	<roty>-0.7019511766188365</roty>
	<rotz>-0.7019511766188368</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_roller_9</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>uniqueName_roller_9</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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>-38.0243460071281</x>
	<y>-33.686631038591564</y>
	<z>3.9999999999999982</z>
	<rotw>0.2507435202693117</rotw>
	<rotx>0.2507435202693117</rotx>
	<roty>-0.661156325722558</roty>
	<rotz>-0.661156325722558</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_roller_10</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>uniqueName_roller_10</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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>-18.013928261818197</x>
	<y>-47.49882512839731</y>
	<z>3.999999999999999</z>
	<rotw>0.4016824345662674</rotw>
	<rotx>0.4016824345662673</rotx>
	<roty>-0.5819374723807673</roty>
	<rotz>-0.5819374723807673</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_roller_11</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>uniqueName_roller_11</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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>6.123263356902692</x>
	<y>-50.429610804189366</y>
	<z>4.0</z>
	<rotw>0.529277025822487</rotw>
	<rotx>0.5292770258224868</rotx>
	<roty>-0.468898528400871</roty>
	<rotz>-0.4688985284008711</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_roller_12</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>uniqueName_roller_12</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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>28.85768913388095</x>
	<y>-41.80758038744037</y>
	<z>4.0</z>
	<rotw>0.6261119601816316</rotw>
	<rotx>0.6261119601816315</rotx>
	<roty>-0.3286089063271338</roty>
	<rotz>-0.32860890632713385</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_roller_13</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>uniqueName_roller_13</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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>44.98116610314503</x>
	<y>-23.6079371398959</y>
	<z>4.0</z>
	<rotw>0.6865595432394159</rotw>
	<rotx>0.6865595432394158</rotx>
	<roty>-0.1692217290624483</roty>
	<rotz>-0.16922172906244837</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_roller_14</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>uniqueName_roller_14</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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>49.32384432524424</x>
	<y>12.157235745804625</y>
	<z>19.999999999999996</z>
	<rotw>0.7019511766187996</rotw>
	<rotx>0.7019511766187994</rotx>
	<roty>0.08523230399023009</roty>
	<rotz>0.0852323039902301</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_roller_15</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>uniqueName_roller_15</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>
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	<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>
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	<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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>38.02434600709872</x>
	<y>33.68663103862474</y>
	<z>20.0</z>
	<rotw>0.6611563257224488</rotw>
	<rotx>0.6611563257224486</rotx>
	<roty>0.25074352026960006</roty>
	<rotz>0.25074352026960006</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_roller_16</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>uniqueName_roller_16</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>
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			<frame>origin</frame>
		</vitamin>

	</vitamins>
	<passive>true</passive>
	<mass>0.01</mass>
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	<rotx>-0.0</rotx>
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	<rotz>-0.0</rotz>
</centerOfMassFromCentroid>
	<imuFromCentroid>
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	<rotw>1.0</rotw>
	<rotx>-0.0</rotx>
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	<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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
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	<rotx>-0.6577819233722559</rotx>
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</ZframeToRAS>

<baseToZframe>

	<x>18.013928261776755</x>
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</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_roller_17</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>uniqueName_roller_17</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>
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	<rotx>-0.0</rotx>
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			<frame>lastlink</frame>
		</vitamin>

		<vitamin>
			<name>shaft</name>
			<type>omniWheelRoller</type>
			<id>4inch13Roller</id>
			<pose>
	<x>0.0</x>
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			<frame>origin</frame>
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	</vitamins>
	<passive>true</passive>
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</centerOfMassFromCentroid>
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</imuFromCentroid>

	<DHParameters>
		<Delta>0.0</Delta>
		<Theta>0.0</Theta>
		<Radius>0.0</Radius>
		<Alpha>0.0</Alpha>
	</DHParameters>

</link>

<ZframeToRAS
>
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	<rotx>-0.6577819233722559</rotx>
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</ZframeToRAS>

<baseToZframe>

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	<z>20.0</z>
	<rotw>0.4688985284006401</rotw>
	<rotx>0.46889852840063995</rotx>
	<roty>0.5292770258226915</roty>
	<rotz>0.5292770258226916</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_roller_18</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>uniqueName_roller_18</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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>-28.857689133917464</x>
	<y>41.807580387415186</y>
	<z>20.00000000000003</z>
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	<rotx>-0.3286089063268604</rotx>
	<roty>-0.626111960181775</roty>
	<rotz>-0.6261119601817751</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_roller_19</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>uniqueName_roller_19</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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>-44.98116610316562</x>
	<y>23.607937139856666</y>
	<z>20.0</z>
	<rotw>-0.16922172906214897</rotw>
	<rotx>-0.16922172906214894</rotx>
	<roty>-0.6865595432394895</roty>
	<rotz>-0.6865595432394898</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_roller_20</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>uniqueName_roller_20</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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>-50.8</x>
	<y>4.433609431139262E-11</y>
	<z>20.0</z>
	<rotw>-3.085664659341736E-13</rotw>
	<rotx>-3.0856646593417354E-13</rotx>
	<roty>-0.7071067811865475</roty>
	<rotz>-0.7071067811865476</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_roller_21</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>uniqueName_roller_21</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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>-44.981166103206824</x>
	<y>-23.60793713977815</y>
	<z>19.999999999999996</z>
	<rotw>0.16922172906154978</rotw>
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</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_roller_22</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>uniqueName_roller_22</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>
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			</pose>
			<frame>origin</frame>
		</vitamin>

	</vitamins>
	<passive>true</passive>
	<mass>0.01</mass>
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	<rotx>-0.0</rotx>
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</centerOfMassFromCentroid>
	<imuFromCentroid>
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	<rotw>1.0</rotw>
	<rotx>-0.0</rotx>
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	<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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
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</ZframeToRAS>

<baseToZframe>

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</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_roller_23</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>uniqueName_roller_23</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>
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	<rotx>-0.0</rotx>
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			<frame>lastlink</frame>
		</vitamin>

		<vitamin>
			<name>shaft</name>
			<type>omniWheelRoller</type>
			<id>4inch13Roller</id>
			<pose>
	<x>0.0</x>
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			<frame>origin</frame>
		</vitamin>

	</vitamins>
	<passive>true</passive>
	<mass>0.01</mass>
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</centerOfMassFromCentroid>
	<imuFromCentroid>
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	<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>-7.105427357601002E-15</x>
	<y>100.0</y>
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	<rotx>-0.6577819233722559</rotx>
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</ZframeToRAS>

<baseToZframe>

	<x>-6.123263357034756</x>
	<y>-50.42961080417332</y>
	<z>19.999999999999996</z>
	<rotw>0.4688985284001781</rotw>
	<rotx>0.468898528400178</rotx>
	<roty>-0.5292770258231008</roty>
	<rotz>-0.529277025823101</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_roller_24</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>uniqueName_roller_24</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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>18.01392826169385</x>
	<y>-47.49882512844446</y>
	<z>19.999999999999996</z>
	<rotw>0.5819374723802416</rotw>
	<rotx>0.5819374723802414</rotx>
	<roty>-0.40168243456702907</roty>
	<rotz>-0.4016824345670292</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_roller_25</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>uniqueName_roller_25</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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>38.024346007039924</x>
	<y>-33.68663103869111</y>
	<z>20.0</z>
	<rotw>0.6611563257222299</rotw>
	<rotx>0.6611563257222298</rotx>
	<roty>-0.25074352027017704</roty>
	<rotz>-0.2507435202701771</rotz>

</baseToZframe>

</drivable>
<drivable>

<name>uniqueName_roller_26</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>uniqueName_roller_26</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>-7.105427357601002E-15</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.657781923372256</rotw>
	<rotx>-0.6577819233722559</rotx>
	<roty>-0.2594666477308702</roty>
	<rotz>-0.2594666477308704</rotz>

</ZframeToRAS>

<baseToZframe>

	<x>49.32384432522306</x>
	<y>-12.15723574589069</y>
	<z>20.000000000000007</z>
	<rotw>0.7019511766187252</rotw>
	<rotx>0.7019511766187251</rotx>
	<roty>-0.08523230399084239</roty>
	<rotz>-0.0852323039908424</rotz>

</baseToZframe>

</drivable>

<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>-50.8</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>

</baseToZframe>
	<mass>0.001</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>

	<vitamins>

	</vitamins>

</mobilebase>

	</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>0.0</x>
	<y>100.0</y>
	<z>0.0</z>
	<rotw>0.5000000000000001</rotw>
	<rotx>-0.4999999999999999</rotx>
	<roty>0.5</roty>
	<rotz>0.5</rotz>

</baseToZframe>

</drivable>

<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>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>

</baseToZframe>
	<mass>0.001</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>

	<vitamins>

	</vitamins>

</mobilebase>

</root>