惯量参数如下:
<link name="shoulder_link">:
<inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
<link name="upper_arm_link">:
<inertia ixx="0.22689067591" ixy="0.0" ixz="0.0" iyy="0.22689067591" iyz="0.0" izz="0.0151074"/>
<link name="forearm_link">:
<inertia ixx="0.049443313556" ixy="0.0" ixz="0.0" iyy="0.049443313556" iyz="0.0" izz="0.004095"/>
<link name="wrist_1_link">:
<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0