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        				<x>0.000</x>
        				<y>0.000</y>
        				<z>0.000</z>
	        		</centerOfMass>
        			<inertiaTensor>
                	        	<Ixx>0.9530</Ixx>
                        		<Iyy>1.9080</Iyy>
                        		<Izz>0.9530</Izz>
                    		</inertiaTensor>
			</standard>
		</inertia>
	</body>	
	<!--Suspension trasera izquierda-->
        <body id="41">
        	<geometry>
        		<point id="41">
        			<x>-1.047996625</x>
        			<y>0.258999982</y>
        			<z>0.288007918</z>
        		</point>
        		<point id="42">
        			<x>-1.048255183</x>
        			<y>0.574928060</y>
        			<z>0.228953851</z>
        		</point>
        		<vector id="1">
        			<x>0.999990415</x>
        			<y>0.000000000</y>
        			<z>-0.004378284</z>
        		</vector>
        	</geometry>
        	<inertia>
        		<standard>
        			<mass uom="kg">6.0000</mass>
        			<centerOfMass id="centerOfMass">
        				<x>0.00</x>
        				<y>0.10713</y>
        				<z>0.0</z>
	        		</centerOfMass>
        			<inertiaTensor>
                	        	<Ixx>0.0000</Ixx>
                        		<Iyy>0.0000</Iyy>
                        		<Izz>0.0000</Izz>
                    		</inertiaTensor>
			</standard>
		</inertia>
	</body>
	
        <body id="42">
        	<geometry>
        		<point id="43">
        			<x>-1.046551791</x>
        			<y>0.045000008</y>
        			<z>0.618004771</z>
        		</point>
        		<point id="44">
        			<x>-1.046932912</x>
        			<y>0.490951370</y>
        			<z>0.530957439</z>
        		</point>
        		<vector id="1">
        			<x>0.999990415</x>
        			<y>0.000000000</y>
        			<z>-0.004378284</z>
        		</vector>
        	</geometry>
        	<inertia>
        		<standard>
        			<mass uom="kg">7.6800</mass>
        			<centerOfMass id="centerOfMass">
        				<x>-1.0470</x>
        				<y>0.2665</y>
        				<z>0.5815</z>
	        		</centerOfMass>
        			<inertiaTensor>
                	        	<Ixx>0.0000</Ixx>
                        		<Iyy>0.0000</Iyy>
                        		<Izz>0.0000</Izz>
                    		</inertiaTensor>
			</standard>
		</inertia>
	</body>
	
        <body id="43">
        	<geometry>
        		<point id="45">
        			<x>-0.906693238</x>
        			<y>0.070000006</y>
        			<z>0.585392116</z>
        		</point>
        		<point id="46">
        			<x>-0.907136142</x>
        			<y>0.450254704</y>
        			<z>0.530154732</z>
        		</point>
        	</geometry>
        	<inertia>
        		<standard>
        			<mass uom="kg">2.0000</mass>
        			<centerOfMass id="centerOfMass">
        				<x>0.00</x>
        				<y>0.192123</y>
        				<z>0.00</z>
	        		</centerOfMass>
        			<inertiaTensor>
                	        	<Ixx>0.0000</Ixx>
                        		<Iyy>0.0000</Iyy>
                        		<Izz>0.0000</Izz>
                    		</inertiaTensor>
			</standard>
		</inertia>
	</body>

        <body id="44">
        	<geometry>
        		<point id="42">
        			<x>-1.048255183</x>
        			<y>0.574928060</y>
        			<z>0.228953851</z>
        		</point>
        		<point id="44">
        			<x>-1.046932912</x>
        			<y>0.490951370</y>
        			<z>0.530957439</z>
        		</point>
        		<point id="46">
        			<x>-0.907136142</x>
        			<y>0.450254704</y>
        			<z>0.530154732</z>
        		</point>
        		<point id="47">
        			<x>-1.047309133</x>
        			<y>0.617936891</y>
        			<z>0.355947337</z>
        		</point>
        		<vector id="41">
        			<x>0.004979222</x>
        			<y>0.999987598</y>
        			<z>-0.000102431</z>
        		</vector>
        	</geometry>
        	<inertia>
        		<standard>
        			<mass uom="kg">29.0000</mass>
        			<centerOfMass id="centerOfMass">
        				<x>0.121327</x>
        				<y>-0.010013</y>
        				<z>0.036377</z>
	        		</centerOfMass>
        			<inertiaTensor>
                	        	<Ixx>0.0000</Ixx>
                        		<Iyy>0.0000</Iyy>
                        		<Izz>0.0000</Izz>
                    		</inertiaTensor>
			</standard>
		</inertia>
	</body>
 
        <body id="45">
        	<geometry>
        		<point id="47">
        			<x>-1.047309133</x>
        			<y>0.617936891</y>
        			<z>0.355947337</z>
        		</point>
        		<point id="48">
        			<x>-1.047309133</x>
        			<y>0.617936891</y>
        			<z>0.0</z>
        		</point>
        		<vector id="41">
        			<x>0.004979222</x>
        			<y>0.999987598</y>
        			<z>-0.000102431</z>
        		</vector>
        	</geometry>
        	<inertia>
        		<standard>
        			<mass uom="kg">28.3500</mass>
        			<centerOfMass id="centerOfMass">
        				<x>0.000</x>
        				<y>0.000</y>
        				<z>0.000</z>
	        		</centerOfMass>
        			<inertiaTensor>
                	        	<Ixx>0.9530</Ixx>
                        		<Iyy>1.9080</Iyy>
                        		<Izz>0.9530</Izz>
                    		</inertiaTensor>
			</standard>
		</inertia>
	</body>		
	
	<!--Angles declaration?
	
		Without angle=1		-->
	<angle id="11">
		<fromDir>
			<fromPoint bodyRef="14" idref="12"/>
			<toPoint bodyRef="14" idref="17"/>
		</fromDir>  
		<toDir>
			<fromPoint bodyRef="15" idref="18"/>
			<toPoint bodyRef="15" idref="17"/>
		</toDir>
		<alongDir bodyRef="ground" idref="z"/>
	</angle>
	
	<angle id="21">
		<fromDir>
			<fromPoint bodyRef="24" idref="22"/>
			<toPoint bodyRef="24" idref="27"/>
		</fromDir>  
		<toDir>
			<fromPoint bodyRef="25" idref="28"/>
			<toPoint bodyRef="25" idref="27"/>
		</toDir>
		<alongDir bodyRef="ground" idref="z"/>
	</angle>
	<angle id="31">
		<fromDir>
			<fromPoint bodyRef="34" idref="32"/>
			<toPoint bodyRef="34" idref="37"/>
		</fromDir>  
		<toDir>
			<fromPoint bodyRef="35" idref="38"/>
			<toPoint bodyRef="35" idref="37"/>
		</toDir>
		<alongDir bodyRef="ground" idref="z"/>
	</angle>
	<angle id="41">
		<fromDir>
			<fromPoint bodyRef="44" idref="42"/>
			<toPoint bodyRef="44" idref="47"/>
		</fromDir>  
		<toDir>
			<fromPoint bodyRef="45" idref="48"/>
			<toPoint bodyRef="45" idref="47"/>
		</toDir>
		<alongDir bodyRef="ground" idref="z"/>
	</angle>
	
	<!-- Without Pair=1 -->
	<joint.revolute id="11">	<!-- A-arm to body-->
		<body idref="1">
			<axisPoint idref="11"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
		<body idref="11">
			<axisPoint idref="11"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
	</joint.revolute>
	<joint.revolute id="12">	<!-- Leaf to body-->
		<body idref="1">
			<axisPoint idref="13"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
		<body idref="12">
			<axisPoint idref="13"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
	</joint.revolute>
	<joint.spherical id="13">	<!-- A-arm to carrier-->
		<body idref="11">
			<centerPoint idref="12"/>
		</body>
		<body idref="14">
			<centerPoint idref="12"/>
		</body>
	</joint.spherical>
	<joint.spherical id="14">	<!-- Leaf to carrier-->
		<body idref="12">
			<centerPoint idref="14"/>
		</body>
		<body idref="14">
			<centerPoint idref="14"/>
		</body>
	</joint.spherical>	
	<joint.spherical id="15">	<!-- Rod to carrier-->
		<body idref="13">
			<centerPoint idref="16"/>
		</body>
		<body idref="14">
			<centerPoint idref="16"/>
		</body>
	</joint.spherical>
	<joint.revolute id="16">	<!-- Carrier to wheel-->
		<body idref="14">
			<axisPoint idref="17"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
		<body idref="15">
			<axisPoint idref="17"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
	</joint.revolute>
	<joint.spherical id="17">	<!-- Rod to body-->
		<body idref="2">
			<centerPoint idref="15"/>
		</body>
		<body idref="13">
			<centerPoint idref="15"/>
		</body>
	</joint.spherical>
	
	<!-- Suspension delantera izquierda -->
	<joint.revolute id="21">	
		<body idref="1">
			<axisPoint idref="21"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
		<body idref="21">		
			<axisPoint idref="21"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
	</joint.revolute>
	<joint.revolute id="22">	
		<body idref="1">
			<axisPoint idref="23"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
		<body idref="22">		
			<axisPoint idref="23"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
	</joint.revolute>
	<joint.spherical id="23">
		<body idref="21">
			<centerPoint idref="22"/>
		</body>
		<body idref="24">
			<centerPoint idref="22"/>
		</body>
	</joint.spherical>
	<joint.spherical id="24">
		<body idref="22">
			<centerPoint idref="24"/>
		</body>
		<body idref="24">
			<centerPoint idref="24"/>
		</body>
	</joint.spherical>
	<joint.spherical id="25">
		<body idref="23">
			<centerPoint idref="26"/>
		</body>
		<body idref="24">
			<centerPoint idref="26"/>
		</body>
	</joint.spherical>	
	<joint.revolute id="26">
		<body idref="24">
			<axisPoint idref="27"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
		<body idref="25">
			<axisPoint idref="27"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
	</joint.revolute>
	<joint.spherical id="27">
		<body idref="2">
			<centerPoint idref="25"/>
		</body>
		<body idref="23">
			<centerPoint idref="25"/>
		</body>
	</joint.spherical>
	
	<!-- Suspension trasera derecha -->
	<joint.revolute id="31">	
		<body idref="1">
			<axisPoint idref="31"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
		<body idref="31">		
			<axisPoint idref="31"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
	</joint.revolute>
	<joint.revolute id="32">	
		<body idref="1">
			<axisPoint idref="33"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
		<body idref="32">		
			<axisPoint idref="33"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
	</joint.revolute>
	<joint.spherical id="33">
		<body idref="31">
			<centerPoint idref="32"/>
		</body>
		<body idref="34">
			<centerPoint idref="32"/>
		</body>
	</joint.spherical>
	<joint.spherical id="34">
		<body idref="32">
			<centerPoint idref="34"/>
		</body>
		<body idref="34">
			<centerPoint idref="34"/>
		</body>
	</joint.spherical>
	<joint.spherical id="35">
		<body idref="33">
			<centerPoint idref="36"/>
		</body>
		<body idref="34">
			<centerPoint idref="36"/>
		</body>
	</joint.spherical>	
	<joint.revolute id="36">
		<body idref="34">
			<axisPoint idref="37"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
		<body idref="35">
			<axisPoint idref="37"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
	</joint.revolute>
	<joint.spherical id="37">
		<body idref="1">
			<centerPoint idref="35"/>
		</body>
		<body idref="33">
			<centerPoint idref="35"/>
		</body>
	</joint.spherical>
	
	<!-- Suspension trasera izquierda -->
	<joint.revolute id="41">	
		<body idref="1">
			<axisPoint idref="41"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
		<body idref="41">		
			<axisPoint idref="41"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
	</joint.revolute>
	<joint.revolute id="42">	
		<body idref="1">
			<axisPoint idref="43"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
		<body idref="42">		
			<axisPoint idref="43"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
	</joint.revolute>
	<joint.spherical id="43">
		<body idref="41">
			<centerPoint idref="42"/>
		</body>
		<body idref="44">
			<centerPoint idref="42"/>
		</body>
	</joint.spherical>
	<joint.spherical id="44">
		<body idref="42">
			<centerPoint idref="44"/>
		</body>
		<body idref="44">
			<centerPoint idref="44"/>
		</body>
	</joint.spherical>
	<joint.spherical id="45">
		<body idref="43">
			<centerPoint idref="46"/>
		</body>
		<body idref="44">
			<centerPoint idref="46"/>
		</body>
	</joint.spherical>	
	<joint.revolute id="46">
		<body idref="44">
			<axisPoint idref="47"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
		<body idref="45">
			<axisPoint idref="47"/>
			<axisDir idref="z"/> <!-- ??? don't know -->
		</body>
	</joint.revolute>
	<joint.spherical id="47">
		<body idref="1">
			<centerPoint idref="45"/>
		</body>
		<body idref="43">
			<centerPoint idref="45"/>
		</body>
	</joint.spherical>
	 <!-- Ballesta delantera derecha -->
        <actuator.linear id="Spring_Damper_1">
            <onDistance>
                <fromPoint bodyRef="1" id="spring_damper_point">
                    <x>0.9700</x>
                    <y>-0.4630</y>
                    <z>0.0620</z>
                </fromPoint>
                <toPoint bodyRef="14" idref="spring_damper_point">
                    <x>0.313464</x>
                    <y>0.00</y>
                    <z>0.00</z>
                </toPoint>
            </onDistance>
            <law>
                <spring-damper id="Spring_Damper_1">
                    <stiffness>35900.0000</stiffness>
                    <damping>3000.0000</damping>
                    <naturalLenght>0.1770</naturalLenght>
                </spring-damper>
            </law>           
        </actuator.linear>
        <!-- Ballesta delantera izquierda -->
        <actuator.linear id="Spring_Damper2">
            <onDistance>
                <fromPoint bodyRef="1" id="spring_damper_point">
                    <x>0.9700</x>
                    <y>0.4630</y>
                    <z>0.0620</z>
                </fromPoint>
                <toPoint bodyRef="24" idref="spring_damper_point">
                    <x>0.313464</x>
                    <y>0.00</y>
                    <z>0.00</z>
                </toPoint>
            </onDistance>
            <law>
                <spring-damper id="Spring_Damper2">
                    <stiffness>35900.0000</stiffness>
                    <damping>3000.0000</damping>
                    <naturalLenght>0.1770 </naturalLenght>
                </spring-damper>
            </law>           
        </actuator.linear>
        <!-- Ballesta trasera derecha -->
        <actuator.linear id="Spring_Damper3">
            <onDistance>
                <fromPoint bodyRef="1" id="spring_damper_point">
                    <x>-1.0470</x>
                    <y>-0.4630</y>
                    <z>0.0620</z>
                </fromPoint>
                <toPoint bodyRef="34" idref="spring_damper_point">
                    <x>0.313464</x>
                    <y>0.00</y>
                    <z>0.00</z>
                </toPoint>
            </onDistance>
            <law>
                <spring-damper id="Spring_Damper3">
                    <stiffness>35900.0000</stiffness>
                    <damping>3000.0000</damping>
                    <naturalLenght>0.1770</naturalLenght>
                </spring-damper>
            </law>           
        </actuator.linear>
        <!-- Ballesta trasera izquierda -->
        <actuator.linear id="Spring_Damper4">
            <onDistance>
                <fromPoint bodyRef="1" id="spring_damper_point">
                    <x>-1.0470</x>
                    <y>0.4630</y>
                    <z>0.0620</z>
                </fromPoint>
                <toPoint bodyRef="44" idref="spring_damper_point">
                    <x>0.313464</x>
                    <y>0.00</y>
                    <z>0.00</z>
                </toPoint>
            </onDistance>
            <law>
                <spring-damper id="Spring_Damper4">
                    <stiffness>35900.0000</stiffness>
                    <damping>3000.0000</damping>
                    <naturalLenght>0.1770</naturalLenght>
                </spring-damper>
            </law>           
        </actuator.linear>
        <load.gravity>
            <direction bodyRef="ground" id="g">
                 <x>0.313464</x>
                 <y>0.00</y>
                 <z>-1.00</z>
            </direction>
            <magnitude>9.81</magnitude>
        </load.gravity>
                    
    </model>
    <task>
        <analysis>
        </analysis> 
    </task>
</job>
