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a guest Mar 27th, 2012 132 Never
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  1. <?xml version="1.0"?>
  2.  
  3. <robot
  4.    xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
  5.    xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
  6.    xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
  7.  
  8.         <!-- Properties (Constants) -->
  9.  
  10. <property name="pi" value="3.1415" />
  11. <property name="M_PI" value="3.1415" />
  12. <property name="body_width" value="0.22" /> <!-- 22 cm -->
  13. <property name="body_length" value="0.27" /> <!-- 27 cm -->
  14. <property name="body_height" value="0.05" /> <!-- 5 cm -->
  15. <property name="body_mass" value="5" /> <!-- 5 kg -->
  16.  
  17. <property name="base_size_x" value="0.27" />
  18. <property name="base_size_y" value="0.22" />
  19. <property name="base_size_z" value="0.05" />
  20.  
  21. <property name="wheel_diameter" value="0.12065" /> <!-- Diameter = 4.75" -->
  22. <property name="wheel_width" value="0.060325" /> <!-- Width = 2.375" -->
  23. <property name="wheel_mass" value="0.181436948" /> <!-- Weight = 6.40 oz. ea. -->
  24.  
  25. </robot>
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