<?xml version="1.0"?>

<robot
    xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
    xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
    xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">

    <!-- Properties (Constants) -->

<property name="pi" value="3.1415" />
<property name="M_PI" value="3.1415" />
<property name="body_width" value="0.22" /> <!-- 22 cm -->
<property name="body_length" value="0.27" /> <!-- 27 cm -->
<property name="body_height" value="0.05" /> <!-- 5 cm -->
<property name="body_mass" value="5" /> <!-- 5 kg -->

<property name="base_size_x" value="0.27" />
<property name="base_size_y" value="0.22" />
<property name="base_size_z" value="0.05" />

<property name="wheel_diameter" value="0.12065" /> <!-- Diameter = 4.75" -->
<property name="wheel_width" value="0.060325" /> <!-- Width = 2.375" -->
<property name="wheel_mass" value="0.181436948" /> <!-- Weight = 6.40 oz. ea. -->

</robot>