.dae/.stl meshes repels each other, when standart box do not.
I want to robot laid tower of cubes. When I use simple models of cubes, they lie on each other.
<box> 1 1 1</box>
But if I use cubes of .dae or .stl they begin to repel each other and the tower collapses.
<sdf version ='1.5'>
<model name='name'>
<link name ='link'>
<inertial>
<mass>1.0</mass>
</inertial>
<collision name ='collision'>
<geometry>
<mesh> <uri> file://media/models/cube.stl </uri></mesh>
</geometry>
</collision>
<visual name ='visual'>
<geometry>
<mesh> <uri> file://media/models/cube.dae </uri></mesh>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/SkyBlue</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>
I've tried to add [inertia] and [collision] -> [surface] properties, but it doesn't help. What am I missing?
Maybe you will have to tune the inertia matrix in the inertial tag. Default values might be too high. http://sdformat.org/spec?ver=1.6&elem=link You can also try to add friction in collision ->surface (use mu and mu2 tags) http://sdformat.org/spec?ver=1.6&elem=collision