Gazebo sim COM issue

1

Please advice,

Trying to learn how to use auto=’true’ flag to generate internia, running into wrong center of mass issue.

Environment:

Ubuntu 22.04 LTS

PX4 1.15.4

Gazebo Harmonic LTS

Issue COM is not at center, but upper right corner (see picture)

The test is modified from standard_vtol of pix4 example models. The sdf is below too.

com
com625×446 31 KB

<?xml version="1.0"?> 0 0 0 0 0 0 0 0 0 0 0 0 0.53 -1.072 0.1 1.5707963268 0 3.1415926536 1000 0.55 2.144 0.05 100000 1.0 0.1 0.001 0.53 -1.072 0.1 1.5707963268 0 3.1415926536 0.001 0.001 0.001 model://helig/meshes/x8_wing_whole.dae .175 .175 .175 1.0 .175 .175 .175 1.0 true 0 Thanks in advance.
2

By the way, I need precise COM and inertia with other links invovled, so have to make collision and visual to match exact in sdf. Thanks again.