<% # SI units (length in meters) # Geometry # Height h = 0.1145 # Inner diameter d1 = 0.0225 r1 = d1/2.0 # Outer diameter d2 = 0.025 r2 = d2/2.0 # Inertia mass = 0.0354 ixx = mass/12.0 * ( 3*(r1**2 + r2**2) + h**2 ) iyy = mass/12.0 * ( 3*(r1**2 + r2**2) + h**2 ) izz = mass/2.0 * (r1**2 + r2**2) %> 0 0 <%= h/2 %> 0 0 0 <%= mass %> <%= ixx %> 0 0 <%= iyy %> 0 <%= izz %> model://tube_2_25cm/meshes/tube_2_25.dae 0.1 0.001 model://tube_2_25cm/meshes/tube_2_25.dae