<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
<Mechanism xmlns="http://www.dmg-lib.org/mechanism" dmglib_MecID="0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.dmg-lib.org/mechanism http://dmg-lib.org/dmglib/schemas/mechanism.xsd">

  <Shapes xmlns="http://www.dmg-lib.org/shapes">
    <Shape id="Wheel.2D.normal">
      <Circle cx="0" cy="0" filled="false" id="Wheel.2D.normal..circle" radius="1"/>
      
      <![CDATA[
      function transform(sx,sy)
      {
          circle.radius = circle.radius * sx;
      }
]]>
    </Shape>
    <Shape id="Wheel.3D">
      <Cylinder height="0.01" id="Wheel.3D..bigcyl" location="xy" origin="0,0,-0.005" radius="1"/>
      <Cylinder height="0.01" id="Wheel.3D..smallcyl" location="xy" origin="0,0,-0.005" radius="0.0125"/>
      <Difference geometry1="Wheel.3D..bigcyl" geometry2="Wheel.3D..smallcyl" id="Wheel.3D..diff"/>
      
      <![CDATA[
      function transform(sx,sy)
      {
          bigcyl.radius = bigcyl.radius * sx;
      }
]]>
    </Shape>
    <Shape id="SwivelJoint.2D.fixed" scale="0.02">
      <Line id="SwivelJoint.2D.fixed..line1" x1="-0.75" x2="-1.75" y1="-0.75" y2="-3"/>
      <Line id="SwivelJoint.2D.fixed..line2" x1="0.75" x2="1.75" y1="-0.75" y2="-3"/>
      <Line id="SwivelJoint.2D.fixed..line3" x1="-2.5" x2="2.5" y1="-3" y2="-3"/>
      <Line id="SwivelJoint.2D.fixed..line4" x1="-2.25" x2="-0.75" y1="-3" y2="-4.25"/>
      <Line id="SwivelJoint.2D.fixed..line5" x1="-1.125" x2="0.375" y1="-3" y2="-4.25"/>
      <Line id="SwivelJoint.2D.fixed..line6" x1="0" x2="1.5" y1="-3" y2="-4.25"/>
      <Line id="SwivelJoint.2D.fixed..line7" x1="1.125" x2="2.625" y1="-3" y2="-4.25"/>
      <Line id="SwivelJoint.2D.fixed..line8" x1="2.25" x2="3.75" y1="-3" y2="-4.25"/>
      <Circle cx="0" cy="0" filled="false" id="SwivelJoint.2D.fixed..circle" radius="1"/>
    </Shape>
    <Shape id="SwivelJoint.3D">
      <Cylinder height="0.1" id="SwivelJoint.3D..cyl" location="xy" origin="0,0,-0.05" radius="0.0125"/>
    </Shape>
    <Shape id="Point.2D.normal" scale="0.019">
      <Circle cx="0" cy="0" filled="true" id="Point.2D.normal..circle" radius="1"/>
    </Shape>
  </Shapes>

  <ComponentSpaces xmlns="http://www.dmg-lib.org/componentspaces">
    <ComponentSpace id="cspace1" type="planar">
      <Positions>
        <Position id="pos1" x="-0.165901" y="0.00787756"/>
        <Position id="pos2" x="0.261024" y="-0.00625902"/>
        <Position id="pos3" x="0.42795" y="0.0242231"/>
        <Position id="pos4" x="-0.165901" y="0.00787756"/>
        <Position id="pos5" x="0.261024" y="-0.00625902"/>
      </Positions>
      <Scalars>
        <Scalar id="scalar1" value="0.021352"/>
        <Scalar id="scalar2" value="-0.00307812"/>
        <Scalar id="scalar3" value="0.211109"/>
        <Scalar id="scalar4" value="-0.00335037"/>
        <Scalar id="scalar5" value="-0.000642391"/>
        <Scalar id="scalar6" value="0.21605"/>
        <Scalar id="scalar7" value="0.00787756"/>
        <Scalar id="scalar8" value="0"/>
        <Scalar id="scalar9" value="-0.00625902"/>
        <Scalar id="scalar10" value="0"/>
      </Scalars>
      <Elements>
        <Wheel fixed="false" id="Wheel4">
          <Point fixed="false" id="Wheel4.pt1" posRef="pos1"/>
          <Line fixed="false" id="Wheel4.refl">
            <Param fixed="false" id="Wheel4.refl.dir" scalarRef="scalar2"/>
            <Param fixed="false" id="Wheel4.refl.offs" scalarRef="scalar1"/>
          </Line>
          <Param fixed="true" id="Wheel4.radius" scalarRef="scalar3"/>
        </Wheel>
        <Wheel fixed="false" id="Wheel5">
          <Point fixed="false" id="Wheel5.pt1" posRef="pos2"/>
          <Point fixed="false" id="Wheel5.pt2" posRef="pos3"/>
          <Line fixed="false" id="Wheel5.refl">
            <Param fixed="false" id="Wheel5.refl.dir" scalarRef="scalar5"/>
            <Param fixed="false" id="Wheel5.refl.offs" scalarRef="scalar4"/>
          </Line>
          <Param fixed="true" id="Wheel5.radius" scalarRef="scalar6"/>
        </Wheel>
      </Elements>
      <Couplings>
        <SwivelJoint fixed="true" id="swj37">
          <Point fixed="true" id="swj37.pt" posRef="pos4"/>
          <Line fixed="false" id="swj37.line">
            <Param fixed="false" id="swj37.line.dir" scalarRef="scalar8"/>
            <Param fixed="false" id="swj37.line.offs" scalarRef="scalar7"/>
          </Line>
        </SwivelJoint>
        <SwivelJoint fixed="true" id="swj38">
          <Point fixed="true" id="swj38.pt" posRef="pos5"/>
          <Line fixed="false" id="swj38.line">
            <Param fixed="false" id="swj38.line.dir" scalarRef="scalar10"/>
            <Param fixed="false" id="swj38.line.offs" scalarRef="scalar9"/>
          </Line>
        </SwivelJoint>
      </Couplings>
      <Connections>
        <PointConnection couplingPointRef="swj37.pt" elementPointRef="Wheel4.pt1" id="pointcon2"/>
        <PointConnection couplingPointRef="swj38.pt" elementPointRef="Wheel5.pt1" id="pointcon3"/>
        <WheelConnection direction="different" id="WheelCnct2" wheel1Ref="Wheel4" wheel2Ref="Wheel5"/>
      </Connections>
    </ComponentSpace>
  </ComponentSpaces>

</Mechanism>
