<% # Wood block with dimensions 33 x 10 x 1 cm # SI units (length in meters) # Geometry dx = 0.1016 dy = 0.3302 dz = 0.01046 # Inertia mass = 0.2765 ixx = mass/12.0 * (dy**2 + dz**2) iyy = mass/12.0 * (dz**2 + dx**2) izz = mass/12.0 * (dx**2 + dy**2) inchToMeter = 0.0254 tee_nut_diameter = 0.5 * inchToMeter tee_nut_radius = tee_nut_diameter / 2 tee_nut_length = dz*1.01 tee_nut_pos = { "tee_nut_1" => [0.0, -0.116, 0.0], "tee_nut_2" => [0.0, -0.038, 0.0], "tee_nut_3" => [0.0, 0.038, 0.0], "tee_nut_4" => [0.0, 0.116, 0.0], } %> 0 0 <%= dz/2 %> 0 0 0 <%= mass %> <%= ixx %> 0 0 <%= iyy %> 0 <%= izz %> <%= dx %> <%= dy %> <%= dz %> 0.1 0.001 <%= dx %> <%= dy %> <%= dz %> <% tee_nut_pos.keys.each do |k| name = k pos = tee_nut_pos[k] %> <%= "" %> <%= pos.join(' ') %> 0 0 0 <%= tee_nut_radius %> <%= tee_nut_length %> <% end %>