[2016.09.22]

1. put Inertia and Mass data in links
2. fixed urdf reader so we can get every information from urdf
3. find another urdf reader which is more easy to use but need to check if it is applicable to our assemble code

TODO

1. needs to figure out which urdf reader we will use to finish assemble quickly

   original one	new one
   we already get 80%of model	need not to change urdf file at all mapping index and links automatically in parents-child order
   need to change urdf file a little(ex. " -> ') mapping manually	needs some more debugging and doublecheking if we get proper data have to start from the first

2. To build collision models for dynamic behavior and to finalize the parser program.