How to fix imported mesh falling through ground? (Moment of Inertia Values Correct)

As part of a larger drone project, I have been importing DAE mesh files (made in Blender) for each of the pieces and manually assembling into sub-assemblies and finally the full drone. However, the drone and sub-pieces all fall through the ground when initially loaded in to the gazebo base environment. The correct Moment of Inertia and Mass values have been assigned for each piece, as they were taken directly from Solidworks. Here is the github repository containing the sdf, config, and mesh folder (containing both an STL and DAE version of the model piece). The files are for a single piece, if it would help to see a completed sub assembly please let me know.

Asked by AP on 2020-07-29 14:13:03 UTC

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Answers

It works fine for me when loaded in the default empty world. Your problem is probably the physics configuration in your world file.

Sidenote 1: Inertias are not involved in collision checking. What you care about are the collision geometries. Sidenote 2: The inertia in the model doesn't seem to correspond to your part (visualize it in the gzclient). Make sure to use the correct reference frame when calculating it.

Asked by nlamprian on 2020-07-29 20:31:36 UTC