0 0 1 0 0 0 <% # Parameters # Aluminum 2700 kg/m^3 density = 2700.0 dx = 0.05 dy = dx dz = dx mass = density * dx * dy * dz Lx = 0.5 Lz = 0.5 Nx = (Lx / dx).floor Nz = (Lz / dz).floor %> <% Nx.times do |xi| Nz.times do |zi| %> <%= "' %> <%= xi*dx %> 0 <%= zi*dy %> 0 0 0 <%= mass %> <%= 1.0 / 12 * mass * (dy*dy + dz*dz) %> <%= 1.0 / 12 * mass * (dz*dz + dx*dx) %> <%= 1.0 / 12 * mass * (dx*dx + dy*dy) %> 0.0 0.0 0.0 <%= dx %> <%= dy %> <%= dz %> <%= dx %> <%= dy %> <%= dz %> <%= "' %> world link_<%= xi %>_<%= zi %> 0 0 1 0.0 0.0 1 1 true 1000 50 <% end end %>