plastic_cup inertia appears incorrect

[osrf-migration]

Original report (archived issue) by John Hsu (Bitbucket: hsu, GitHub: hsu).

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[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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It's currently calculated as if there is no base:

https://github.com/osrf/gazebo_models/blob/31803162a7b74ed110e7478ea25e1c10c2f3e2ac/plastic_cup/model.rsdf

[osrf-migration]

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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maybe it's just optical illusion, or the fact that the cups are at a large distance from world origin, the visual and the MOI visualization appears slightly misaligned?

[osrf-migration]

Original comment by John Hsu (Bitbucket: hsu, GitHub: hsu).

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• changed priority from "major" to "trivial"

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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• changed priority from "trivial" to "major"

I just checked and the center of mass is not centered and should be fixed.