diff --git a/src/vehicle_pkg/config/platforms/platform_mkmini.yaml b/src/vehicle_pkg/config/platforms/platform_mkmini.yaml
index 9e6c0af..fdfecc7 100755
--- a/src/vehicle_pkg/config/platforms/platform_mkmini.yaml
+++ b/src/vehicle_pkg/config/platforms/platform_mkmini.yaml
@@ -16,8 +16,22 @@ platform:
   wheelbase:          0.6          # m  (= 기존 vehicle_mkmini.yaml cmd_vel_to_*.wheelbase)
   max_steering_angle: 0.5          # rad
   max_speed:          0.6          # m/s (sim 상한; 실차 안전상한은 vehicle_driver 프로파일)
-  track_width:                     # m  — 미측정 (현재 odom/TF 미사용). 측정 후 기입
-  wheel_radius:                    # m  — 미측정 (현재 미사용)
+  track_width:        0.51         # m  (실측 휠 중심 간 거리)
+  wheel_radius:       0.12         # m  (실측)
+  wheel_width:        0.05         # m  (실측)
+  front_overhang:     0.12         # m  (실측)
+  rear_overhang:      0.12         # m  (실측)
+  left_overhang:      0.05         # m  (실측)
+  right_overhang:     0.05         # m  (실측)
+  lidar_mount:
+    x: 0.15                         # m, base_link 기준
+    y: 0.0
+    z: 0.5
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+    frame_id: base_link
+    child_frame_id: os_lidar
 
   # 드라이버 선택 (선택 source = 이 데이터. registry.py 는 이름→노드만)
   default_vehicle_driver: yhs_can          # 실차 (sim_mode=false)