<% # SI units (length in meters) # Geometry # Height h = 0.08 # diameter d = 0.0195 r = d/2.0 # Inertia mass = 0.0175 ixx = mass/12.0 * (3*r**2 + h**2 ) iyy = mass/12.0 * (3*r**2 + h**2 ) izz = mass/2.0 * r**2 %> 0 0 <%= h/2 %> 0 0 0 <%= mass %> <%= ixx %> 0 0 <%= iyy %> 0 <%= izz %> <%= r %> <%= h %> <%= r %> <%= h %>