Is the density anywhere near that corresponding to the static universe, or is it so small that we can consider the empty universe as a good approxima… - Willem de Sitter

Gravitation is not only similar to inertia in its generality, it is also measured by the same number... the mass. The inertial mass is what Newton calls the "quantity of matter": it is a measure for the resistance offered by a body to a force trying to alter its state of motion. It might be called the "passive mass." The gravitational mass, on the other hand, is a measure of the force exerted by the body in attracting other bodies. We might call it the "active" mass. The equality of active and passive, or gravitational and inertial, mass was in Newton's system a most remarkable accidental co-incidence, something like a miracle. Newton himself decidedly felt it as such, and made experiments to verify it, by swinging a pendulum with a hollow bob which could be filled with different materials. The force acting on the pendulum is proportional to its gravitational mass, the inertia to its inertial mass: the period of its swing thus depends on the ratio between these two masses. The fact that the period is always the same therefore proves that the gravitational and inertial masses are equal.

Gradually... during the second half of the nineteenth century, the uncomfortable feeling of dislike of the action at a distance, which had been so strong in Huygens and other contemporaries of Newton, but had subsided during the eighteenth century, began to emerge again, and gained strength rapidly.
This was favoured by the purely mathematical transformation (which can be compared in a sense with that from the Ptolemaic to the Copernican system), replacing Newton's finite equations by the differential equations, the potential becoming the primary concept, instead of the force, which is only the gradient of the potential. These ideas, of course, arose first in the theory of electricity and magnetism or perhaps one should say in the brain of Faraday.

It was early 1932, when Einstein and I both were at the California Institute of Technology in Pasedena, and we just decided to look for a simple relativistic model that agreed reasonably well with the known observational data, namely, the Hubble recession rate and the mean density of matter in the universe. So we took the space curvature to be zero and also the cosmological constant and the pressure term to be zero, and then it follows straightforwardly that the density is proportional to the square of the Hubble constant. It gives a value for the density that is high, but not impossibly high. That's about all there was to it. It was not an important paper, although Einstein apparently thought that it was. He was pleased to have a simple model with no cosmological constant. That's it.