<% # SI units (length in meters) # Geometry diameter = 0.084 radius = diameter/2.0 height = 0.0115 # mesh height offset mesh_dz = 0.0010 mesh_pose = "0 0 #{mesh_dz} 0 0 0" # base cylinder height cylinder_height = 0.002 cylinder_pose = "0 0 #{cylinder_height/2} 0 0 0" # Inertia: approximate as a thin-walled cylindrical tube (not accurate) mass = 0.0142 ixx = mass*(radius**2/2 + height**2/12) iyy = ixx izz = mass*radius**2 %> 0 0 <%= height/2 %> 0 0 0 <%= mass %> <%= ixx %> 0 0 <%= iyy %> 0 <%= izz %> <%= cylinder_pose %> <%= radius %> <%= cylinder_height %> 0.1 0.0001 <%= cylinder_pose %> <%= radius %> <%= cylinder_height %> <%= mesh_pose %> model://round_tin_top/meshes/round_tin_top.dae 0.1 0.001 <%= mesh_pose %> model://round_tin_top/meshes/round_tin_top.dae