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angle of the roller relative to the wheel's driving direction -- \\(\beta_i\\) is the angle of the wheel relative to the robot's x-axis -- \\(x_i\\) and \\(y_i\\) are the x and y coordinates of the wheel relative to the robot's center +- \\(\beta_i\\) is the angle of the wheel relative to the body frame +- \\(x_i\\) and \\(y_i\\) are the x and y coordinates of the wheel relative to the body frame's origin - \\(V_b\\) is the robot's 3D body twist, composed of the linear and angular velocity: \\([v_x, v_y, \omega]\\) ![Mecanum Base](mecanum_base.png)