Merge pull request #95 from ipa-fxm/new_model

fix model + use real inertias
changed inertia of link 5
Merge branch 'hydro_dev' into velocity_interface_controller
Merge branch 'velocity_interface_controller' of github.com:ipa-fxm-fm/schunk_modular_robotics into velocity_interface_controller
back to CAD inertia