This is the this part of the buoyancy question answer. In this part you learn how to add buoyancy to a geometric based comples model: http://answers.gazebosim.org/question/15600/buoyancy-neutral-object-goes-up-with-hydrodynamics-plugin/#17704
Q:buoyancy neutral object goes up with hydrodynamics plugin part3
A: You have to calculate the volume and the mass for neutral buoyancy. Also adjust the inertial matrix.
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