ycb: Update inertias to use constant-density estimations from meshes

RobotLocomotion / drake

Model-based design and verification for robotics.

https://drake.mit.edu

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Closed EricCousineau-TRI closed 8 months ago

EricCousineau-TRI commented 5 years ago

Follow-up from: #10702

We should update the models to use an estimation from the mesh (if possible).

This may involve:

Simplifying / separating the inertial estimation from the current //manipulation/util:meshlab_to_sdf binary (e.g. just give it an OBJ, and it'll give you an <inertial/> with no frame adjustment)
Ensuring that the center of mass is accurate given the inertial adjustments.

\cc @kmuhlrad @allisonh-tri

jwnimmer-tri commented 8 months ago

These files live in a different repo now, so I'll move this issue to https://github.com/RobotLocomotion/models/issues/38 instead.