<% frame_pose = [-0.025145, -0.03429, 1.0541] frame_size = [0.05029, 0.06858, 2.10820] mass = 19 %> 0.06 -0.0005 0 0 0 0 <%= frame_pose.join(' ') %> 0 0 0 <%= mass %> <% ixx = mass*(frame_size[1]**2+frame_size[2]**2)/12 iyy = mass*(frame_size[0]**2+frame_size[2]**2)/12 izz = mass*(frame_size[0]**2+frame_size[1]**2)/12 %> <%= ixx %> 0 0 <%= iyy %> 0 <%= izz %> <%= frame_pose.join(' ') %> 0 0 0 <%= frame_size.join(' ') %> <%= frame_pose.join(' ') %> 0 0 0 <%= frame_size.join(' ') %> -0.0 0.000 2.040 3.14159 0 0 <% pose_offset = [0.4569, 0.0349, 1.016] door_size = [0.9144, 0.04445, 2.032] mass = 41.3256 %> <%= mass %> <%= pose_offset.join(' ') %> 0 0 0 <% ixx = mass*(door_size[1]**2+door_size[2]**2)/12 iyy = mass*(door_size[0]**2+door_size[2]**2)/12 izz = mass*(door_size[0]**2+door_size[1]**2)/12 %> <%= ixx %> 0 0 <%= iyy %> 0 <%= izz %> <%= pose_offset.join(' ') %> 0 0 0 <%= door_size.join(' ') %> 0 -0.06858 0 0 0 0 model://hinged_door/meshes/door.dae <% handle_cylinder_dims = [0.03556/2, 0.082956] # radius, height handle_cylinder_pos = [0, 0, handle_cylinder_dims[1]/2] handle_box_dims = [0.156, 0.03556, 0.011] handle_box_pos = [handle_box_dims[0]/2, 0, handle_cylinder_dims[1]] handle_pose = [door_size[0]-0.1, 0, 1.05, 0, 3.14, 0] mass = [1, 1] # box, cylinder total_mass = mass[0]+mass[1] com = (0..2).map{ |i| (handle_cylinder_pos[i]+handle_box_pos[i])/2 } %> <%= handle_pose.join(' ') %> 0 -0.035 0 0 0 0 <% ixx_box = mass[0]*(handle_box_dims[1]**2+handle_box_dims[2]**2)/12 iyy_box = mass[0]*(handle_box_dims[0]**2+handle_box_dims[2]**2)/12 izz_box = mass[0]*(handle_box_dims[0]**2+handle_box_dims[1]**2)/12 ixx_cyl = mass[1]*(3*handle_cylinder_dims[1]**2+handle_cylinder_dims[1]**2)/12 iyy_cyl = mass[1]*(3*handle_cylinder_dims[1]**2+handle_cylinder_dims[1]**2)/12 izz_cyl = mass[1]*(handle_cylinder_dims[0]**2)/12 ixx = ixx_box + mass[0]*(handle_box_pos[1]**2+handle_box_pos[2]**2) + ixx_cyl + mass[1]*(handle_cylinder_pos[1]**2+handle_cylinder_pos[2]**2) iyy = iyy_box + mass[0]*(handle_box_pos[0]**2+handle_box_pos[2]**2) + iyy_cyl + mass[1]*(handle_cylinder_pos[0]**2+handle_cylinder_pos[2]**2) izz = izz_box + mass[0]*(handle_box_pos[0]**2+handle_box_pos[1]**2) + izz_cyl + mass[1]*(handle_cylinder_pos[0]**2+handle_cylinder_pos[1]**2) ixy = -mass[0]*handle_box_pos[0]*handle_box_pos[1] - mass[1]*handle_cylinder_pos[0]*handle_cylinder_pos[1] ixz = -mass[0]*handle_box_pos[0]*handle_box_pos[2] - mass[1]*handle_cylinder_pos[0]*handle_cylinder_pos[2] iyz = -mass[0]*handle_box_pos[1]*handle_box_pos[2] - mass[1]*handle_cylinder_pos[1]*handle_cylinder_pos[2] %> <%= total_mass %> <%= ixx %> <%= ixy %> <%= ixz %> <%= iyy %> <%= iyz %> <%= izz %> 0.015 -0.015 0 -1.57 0 0 model://door_handle/meshes/handle.dae 0.015 -0.015 0 -1.57 0 0 model://door_handle/meshes/handle.dae 0.015 -0.055 0 1.57 0 0 model://door_handle/meshes/handle.dae 0.015 -0.055 0 1.57 0 0 model://door_handle/meshes/handle.dae door handles 0.015 0 0 0 0 0 0 1 0 -1.58 0 1.0 10 true 1 frame door 0 0 1 -1.58 0 1.0 1.0 true 1 frame world 0 0 0 1 0 1.0 true 1