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								<physm:Z>0</physm:Z>
							</phys:InertiaTensor>
							<phys:CenterOfMass>
								<physm:Position>
									<physm:X>0</physm:X>
									<physm:Y>0</physm:Y>
									<physm:Z>0</physm:Z>
								</physm:Position>
								<physm:Orientation>
									<physm:X>0</physm:X>
									<physm:Y>0</physm:Y>
									<physm:Z>0</physm:Z>
									<physm:W>0</physm:W>
								</physm:Orientation>
							</phys:CenterOfMass>
							<phys:Density>0</phys:Density>
							<phys:LinearDamping>0</phys:LinearDamping>
							<phys:AngularDamping>0</phys:AngularDamping>
						</phys:MassDensity>
						<phys:LocalPose>
							<physm:Position>
								<physm:X>0.1565</physm:X>
								<physm:Y>0.08</physm:Y>
								<physm:Z>-0.05</physm:Z>
							</physm:Position>
							<physm:Orientation>
								<physm:X>0</physm:X>
								<physm:Y>0</physm:Y>
								<physm:Z>0</physm:Z>
								<physm:W>1</physm:W>
							</physm:Orientation>
						</phys:LocalPose>
						<phys:TextureFileName />
						<phys:DiffuseColor>
							<physm:X>0.5</physm:X>
							<physm:Y>0.5</physm:Y>
							<physm:Z>0.5</physm:Z>
							<physm:W>1</physm:W>
						</phys:DiffuseColor>
						<phys:EnableContactNotifications>false</phys:EnableContactNotifications>
						<phys:InnerRadius>0.055999998</phys:InnerRadius>
						<phys:SuspensionTravel>0</phys:SuspensionTravel>
						<phys:Flags>OverrideAxleSpeed</phys:Flags>
						<phys:AxleSpeed>0</phys:AxleSpeed>
						<phys:TireLateralForceFunction>
							<physm:ExtremumSlip>1</physm:ExtremumSlip>
							<physm:ExtremumValue>0.02</physm:ExtremumValue>
							<physm:AsymptoteSlip>2</physm:AsymptoteSlip>
							<physm:AsymptoteValue>0.01</physm:AsymptoteValue>
							<physm:StiffnessFactor>1E+09</physm:StiffnessFactor>
						</phys:TireLateralForceFunction>
						<phys:TireLongitudalForceFunction>
							<physm:ExtremumSlip>1</physm:ExtremumSlip>
							<physm:ExtremumValue>0.02</physm:ExtremumValue>
							<physm:AsymptoteSlip>2</physm:AsymptoteSlip>
							<physm:AsymptoteValue>0.01</physm:AsymptoteValue>
							<physm:StiffnessFactor>1E+09</physm:StiffnessFactor>
						</phys:TireLongitudalForceFunction>
						<phys:BrakeTorque>0</phys:BrakeTorque>
					</phys:WheelState>
				</WheelShape>
				<Rotations>0</Rotations>
			</RightWheel>
			<LeftWheel xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
				<sim:State>
					<sim:Name>MotorBaseWithThreeWheels:Left wheel</sim:Name>
					<sim:Assets />
					<sim:Pose>
						<physm:Position>
							<physm:X>-1.71473621E-05</physm:X>
							<physm:Y>-0.00100000319</physm:Y>
							<physm:Z>-0.000198581489</physm:Z>
						</physm:Position>
						<physm:Orientation>
							<physm:X>-1.2361852E-08</physm:X>
							<physm:Y>-6.565193E-05</physm:Y>
							<physm:Z>-4.379001E-09</physm:Z>
							<physm:W>1</physm:W>
						</physm:Orientation>
					</sim:Pose>
					<sim:Velocity>
						<physm:X>0</physm:X>
						<physm:Y>0</physm:Y>
						<physm:Z>0</physm:Z>
					</sim:Velocity>
					<sim:AngularVelocity>
						<physm:X>0</physm:X>
						<physm:Y>0</physm:Y>
						<physm:Z>0</physm:Z>
					</sim:AngularVelocity>
					<sim:MassDensity>
						<phys:Mass>0</phys:Mass>
						<phys:InertiaTensor>
							<physm:X>0</physm:X>
							<physm:Y>0</physm:Y>
							<physm:Z>0</physm:Z>
						</phys:InertiaTensor>
						<phys:CenterOfMass>
							<physm:Position>
								<physm:X>0</physm:X>
								<physm:Y>0</physm:Y>
								<physm:Z>0</physm:Z>
							</physm:Position>
							<physm:Orientation>
								<physm:X>0</physm:X>
								<physm:Y>0</physm:Y>
								<physm:Z>0</physm:Z>
								<physm:W>0</physm:W>
							</physm:Orientation>
						</phys:CenterOfMass>
						<phys:Density>0</phys:Density>
						<phys:LinearDamping>0</phys:LinearDamping>
						<phys:AngularDamping>0</phys:AngularDamping>
					</sim:MassDensity>
					<sim:Flags>Dynamic</sim:Flags>
				</sim:State>
				<Flags>None</Flags>
				<ChildCount>0</ChildCount>
				<ReferenceFrame>Global</ReferenceFrame>
				<MeshScale>
					<physm:X>1</physm:X>
					<physm:Y>1</physm:Y>
					<physm:Z>1</physm:Z>
				</MeshScale>
				<MeshRotation>
					<physm:X>0</physm:X>
					<physm:Y>0</physm:Y>
					<physm:Z>0</physm:Z>
				</MeshRotation>
				<MeshTranslation>
					<physm:X>0</physm:X>
					<physm:Y>0</physm:Y>
					<physm:Z>0</physm:Z>
				</MeshTranslation>
				<WheelShape>
					<phys:WheelState>
						<phys:Name>MotorBaseWithDrive/front left wheel</phys:Name>
						<phys:ShapeId>Wheel</phys:ShapeId>
						<phys:Dimensions>
							<physm:X>0</physm:X>
							<physm:Y>0</physm:Y>
							<physm:Z>0</physm:Z>
						</phys:Dimensions>
						<phys:Radius>0.08</phys:Radius>
						<phys:Material>
							<phys:Name>default wheel material</phys:Name>
							<phys:Restitution>0</phys:Restitution>
							<phys:DynamicFriction>0</phys:DynamicFriction>
							<phys:StaticFriction>0</phys:StaticFriction>
							<phys:MaterialIndex>5</phys:MaterialIndex>
						</phys:Material>
						<phys:MassDensity>
							<phys:Mass>0.1</phys:Mass>
							<phys:InertiaTensor>
								<physm:X>0</physm:X>
								<physm:Y>0</physm:Y>
								<physm:Z>0</physm:Z>
							</phys:InertiaTensor>
							<phys:CenterOfMass>
								<physm:Position>
									<physm:X>0</physm:X>
									<physm:Y>0</physm:Y>
									<physm:Z>0</physm:Z>
								</physm:Position>
								<physm:Orientation>
									<physm:X>0</physm:X>
									<physm:Y>0</physm:Y>
									<physm:Z>0</physm:Z>
									<physm:W>0</physm:W>
								</physm:Orientation>
							</phys:CenterOfMass>
							<phys:Density>0</phys:Density>
							<phys:LinearDamping>0</phys:LinearDamping>
							<phys:AngularDamping>0</phys:AngularDamping>
						</phys:MassDensity>
						<phys:LocalPose>
							<physm:Position>
								<physm:X>-0.1565</physm:X>
								<physm:Y>0.08</physm:Y>
								<physm:Z>-0.05</physm:Z>
							</physm:Position>
							<physm:Orientation>
								<physm:X>0</physm:X>
								<physm:Y>0</physm:Y>
								<physm:Z>0</physm:Z>
								<physm:W>1</physm:W>
							</physm:Orientation>
						</phys:LocalPose>
						<phys:TextureFileName />
						<phys:DiffuseColor>
							<physm:X>0.5</physm:X>
							<physm:Y>0.5</physm:Y>
							<physm:Z>0.5</physm:Z>
							<physm:W>1</physm:W>
						</phys:DiffuseColor>
						<phys:EnableContactNotifications>false</phys:EnableContactNotifications>
						<phys:InnerRadius>0.055999998</phys:InnerRadius>
						<phys:SuspensionTravel>0</phys:SuspensionTravel>
						<phys:Flags>OverrideAxleSpeed</phys:Flags>
						<phys:AxleSpeed>0</phys:AxleSpeed>
						<phys:TireLateralForceFunction>
							<physm:ExtremumSlip>1</physm:ExtremumSlip>
							<physm:ExtremumValue>0.02</physm:ExtremumValue>
							<physm:AsymptoteSlip>2</physm:AsymptoteSlip>
							<physm:AsymptoteValue>0.01</physm:AsymptoteValue>
							<physm:StiffnessFactor>1E+09</physm:StiffnessFactor>
						</phys:TireLateralForceFunction>
						<phys:TireLongitudalForceFunction>
							<physm:ExtremumSlip>1</physm:ExtremumSlip>
							<physm:ExtremumValue>0.02</physm:ExtremumValue>
							<physm:AsymptoteSlip>2</physm:AsymptoteSlip>
							<physm:AsymptoteValue>0.01</physm:AsymptoteValue>
							<physm:StiffnessFactor>1E+09</physm:StiffnessFactor>
						</phys:TireLongitudalForceFunction>
						<phys:BrakeTorque>0</phys:BrakeTorque>
					</phys:WheelState>
				</WheelShape>
				<Rotations>0</Rotations>
			</LeftWheel>
			<ChassisShape xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
				<phys:BoxState>
					<phys:Name>MotorBaseWithDrive/Chassis</phys:Name>
					<phys:ShapeId>Box</phys:ShapeId>
					<phys:Dimensions>
						<physm:X>0.393</physm:X>
						<physm:Y>0.18</physm:Y>
						<physm:Z>0.4</physm:Z>
					</phys:Dimensions>
					<phys:Radius>0</phys:Radius>
					<phys:Material>
						<phys:Name>high friction</phys:Name>
						<phys:Restitution>0</phys:Restitution>
						<phys:DynamicFriction>1</phys:DynamicFriction>
						<phys:StaticFriction>20</phys:StaticFriction>
						<phys:MaterialIndex>4</phys:MaterialIndex>
					</phys:Material>
					<phys:MassDensity>
						<phys:Mass>9</phys:Mass>
						<phys:InertiaTensor>
							<physm:X>0</physm:X>
							<physm:Y>0</physm:Y>
							<physm:Z>0</physm:Z>
						</phys:InertiaTensor>
						<phys:CenterOfMass>
							<physm:Position>
								<physm:X>0</physm:X>
								<physm:Y>0</physm:Y>
								<physm:Z>0</physm:Z>
							</physm:Position>
							<physm:Orientation>
								<physm:X>0</physm:X>
								<physm:Y>0</physm:Y>
								<physm:Z>0</physm:Z>
								<physm:W>0</physm:W>
							</physm:Orientation>
						</phys:CenterOfMass>
						<phys:Density>0</phys:Density>
						<phys:LinearDamping>0</phys:LinearDamping>
						<phys:AngularDamping>0</phys:AngularDamping>
					</phys:MassDensity>
					<phys:LocalPose>
						<physm:Position>
							<physm:X>0</physm:X>
							<physm:Y>0.14</physm:Y>
							<physm:Z>0</physm:Z>
						</physm:Position>
						<physm:Orientation>
							<physm:X>0</physm:X>
							<physm:Y>0</physm:Y>
							<physm:Z>0</physm:Z>
							<physm:W>-1</physm:W>
						</physm:Orientation>
					</phys:LocalPose>
					<phys:TextureFileName />
					<phys:DiffuseColor>
						<physm:X>0.5</physm:X>
						<physm:Y>0.5</physm:Y>
						<physm:Z>0.5</physm:Z>
						<physm:W>1</physm:W>
					</phys:DiffuseColor>
					<phys:EnableContactNotifications>false</phys:EnableContactNotifications>
				</phys:BoxState>
			</ChassisShape>
			<CasterWheelShape xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
				<phys:SphereState>
					<phys:Name>MotorBaseWithDrive/Caster wheel</phys:Name>
					<phys:ShapeId>Sphere</phys:ShapeId>
					<phys:Dimensions>
						<physm:X>0</physm:X>
						<physm:Y>0</physm:Y>
						<physm:Z>0</physm:Z>
					</phys:Dimensions>
					<phys:Radius>0.025</phys:Radius>
					<phys:Material>
						<phys:Name>small friction with anisotropy</phys:Name>
						<phys:Restitution>0.5</phys:Restitution>
						<phys:DynamicFriction>0.5</phys:DynamicFriction>
						<phys:StaticFriction>1</phys:StaticFriction>
						<phys:MaterialIndex>3</phys:MaterialIndex>
						<phys:Advanced>
							<phys:AnisotropicStaticFriction>0.4</phys:AnisotropicStaticFriction>
							<phys:AnisotropicDynamicFriction>0.3</phys:AnisotropicDynamicFriction>
							<phys:AnisotropyDirection>
								<physm:X>0</physm:X>
								<physm:Y>0</physm:Y>
								<physm:Z>1</physm:Z>
							</phys:AnisotropyDirection>
							<phys:RestitutionCombineMode>Unspecified</phys:RestitutionCombineMode>
							<phys:FrictionCombineMode>Unspecified</phys:FrictionCombineMode>
							<phys:Optical />
						</phys:Advanced>
					</phys:Material>
					<phys:MassDensity>
						<phys:Mass>0.001</phys:Mass>
						<phys:InertiaTensor>
							<physm:X>0</physm:X>
							<physm:Y>0</physm:Y>
							<physm:Z>0</physm:Z>
						</phys:InertiaTensor>
						<phys:CenterOfMass>
							<physm:Position>
								<physm:X>0</physm:X>
								<physm:Y>0</physm:Y>
								<physm:Z>0</physm:Z>
							</physm:Position>
							<physm:Orientation>
								<physm:X>0</physm:X>
								<physm:Y>0</physm:Y>
								<physm:Z>0</physm:Z>
								<physm:W>0</physm:W>
							</physm:Orientation>
						</phys:CenterOfMass>
						<phys:Density>0</phys:Density>
						<phys:LinearDamping>0</phys:LinearDamping>
						<phys:AngularDamping>0</phys:AngularDamping>
					</phys:MassDensity>
					<phys:LocalPose>
						<physm:Position>
							<physm:X>0</physm:X>
							<physm:Y>0.025</physm:Y>
							<physm:Z>0.175</physm:Z>
						</physm:Position>
						<physm:Orientation>
							<physm:X>0</physm:X>
							<physm:Y>0</physm:Y>
							<physm:Z>0</physm:Z>
							<physm:W>-1</physm:W>
						</physm:Orientation>
					</phys:LocalPose>
					<phys:TextureFileName />
					<phys:DiffuseColor>
						<physm:X>0.5</physm:X>
						<physm:Y>0.5</physm:Y>
						<physm:Z>0.5</physm:Z>
						<physm:W>1</physm:W>
					</phys:DiffuseColor>
					<phys:EnableContactNotifications>false</phys:EnableContactNotifications>
				</phys:SphereState>
			</CasterWheelShape>
			<RotateDegreesAngleThreshold xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">0.20000000298023224</RotateDegreesAngleThreshold>
			<TimeoutSeconds xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">30</TimeoutSeconds>
		</MotorBaseWithDrive>
		<SimulatedWebcamEntity xmlns:sim="http://schemas.microsoft.com/robotics/2006/04/simulation.html" xmlns:physm="http://schemas.microsoft.com/robotics/2006/07/physicalmodel.html" xmlns:phys="http://schemas.microsoft.com/robotics/2006/04/simulation/physics.html" xmlns="http://schemas.microsoft.com/2009/03/simplesimulatedrobot.html">
			<sim:State>
				<sim:Name>SimulatedWebcam</sim:Name>
				<sim:Assets />
				<sim:Pose>
					<physm:Position>
						<physm:X>0</physm:X>
						<physm:Y>0.5</physm:Y>
						<physm:Z>0</physm:Z>
					</physm:Position>
					<physm:Orientation>
						<physm:X>0</physm:X>
						<physm:Y>0</physm:Y>
						<physm:Z>0</physm:Z>
						<physm:W>1</physm:W>
					</physm:Orientation>
				</sim:Pose>
				<sim:Velocity>
					<physm:X>0</physm:X>
					<physm:Y>0</physm:Y>
					<physm:Z>0</physm:Z>
				</sim:Velocity>
				<sim:AngularVelocity>
					<physm:X>0</physm:X>
					<physm:Y>0</physm:Y>
					<physm:Z>0</physm:Z>
				</sim:AngularVelocity>
				<sim:MassDensity>
					<phys:Mass>1</phys:Mass>
					<phys:InertiaTensor>
						<physm:X>0</physm:X>
						<physm:Y>0</physm:Y>
						<physm:Z>0</physm:Z>
					</phys:InertiaTensor>
					<phys:CenterOfMass>
						<physm:Position>
							<physm:X>0</physm:X>
							<physm:Y>0</physm:Y>
							<physm:Z>0</physm:Z>
						</physm:Position>
						<physm:Orientation>
							<physm:X>0</physm:X>
							<physm:Y>0</physm:Y>
							<physm:Z>0</physm:Z>
							<physm:W>0</physm:W>
						</physm:Orientation>
					</phys:CenterOfMass>
					<phys:Density>0</phys:Density>
					<phys:LinearDamping>0</phys:LinearDamping>
					<phys:AngularDamping>0</phys:AngularDamping>
				</sim:MassDensity>
				<sim:Flags>Dynamic</sim:Flags>
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			<Flags xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">None</Flags>
			<ChildCount xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">0</ChildCount>
			<ReferenceFrame xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">Local</ReferenceFrame>
			<ServiceContract xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">http://schemas.microsoft.com/2006/09/simulatedwebcam.html</ServiceContract>
			<MeshScale xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
				<physm:X>1</physm:X>
				<physm:Y>1</physm:Y>
				<physm:Z>1</physm:Z>
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			<MeshRotation xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
				<physm:X>0</physm:X>
				<physm:Y>0</physm:Y>
				<physm:Z>0</physm:Z>
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			<MeshTranslation xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
				<physm:X>0</physm:X>
				<physm:Y>0</physm:Y>
				<physm:Z>0</physm:Z>
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			<IsRealTimeCamera xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">true</IsRealTimeCamera>
			<UpdateInterval xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">67</UpdateInterval>
			<ShadowDisplay xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">ShowShadows</ShadowDisplay>
			<CameraModel xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">FirstPerson</CameraModel>
			<Near xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">0.1</Near>
			<Far xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">5000</Far>
			<ViewSizeX xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">320</ViewSizeX>
			<ViewSizeY xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">240</ViewSizeY>
			<ViewAngle xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">0.7853982</ViewAngle>
			<IsPhysicsVisible xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">false</IsPhysicsVisible>
			<LookAt xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
				<X>0</X>
				<Y>0.5</Y>
				<Z>-1</Z>
			</LookAt>
			<Location xmlns="http://schemas.microsoft.com/robotics/2006/04/simulationengine.html">
				<X>-0</X>
				<Y>0.5</Y>
				<Z>-0</Z>
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