Manipulation issues due to incorrect COM of GoogleScanned Objects

[shivanimall]

Hello @erwincoumans ,

I loaded these objects in pybullet, and It seems like the COM of google scanned objects is not the geometric mean COM, instead is at the bottom of the object. This leads to wobbly behaviour such that the object never falls down after a failed/unstable grasp with a jaw gripper.

1. trimesh gives access to COM of the mesh via touch_obj_mesh.convex_hull.center_mass, would using that in the urdf intertial tag work?

2. Are there any known/suggested solutions to fix this issue?