Database of objects with mass and inertia

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I am trying to simulate robot arm grasping task using ROS and Gazebo. Is there a database of object models along from where I can spawn real-world like objects, that have proper mass and inertial matrix?

I looked up the ignition models and gazebo models warehouse, and the Google 3D warehouse, but all of them just provide the sdf files without mass and inertia (for most of the objects), and configuring the right values for each object seems to take forever. (If I spawn the objects without mass and inertia, they seem very unrealistic in their movements when spawned, which is to be expected.)

I was wondering if there exists a database already that has complete sdf files that I can directly use.

Thanks