Removed main task and changed wheel radius
Revert "Removed main task and changed wheel radius"

This reverts commit 34fc26d957cc6af0d37e5d2ce4e76ee7d1d9a400.
Revert "Revert "Removed main task and changed wheel radius""

This reverts commit ff2c8fe1679438edf6dca697f059b308ec9a2961.