Simple arm has an invalid inertia matrix

[osrf-migration]

Original report (archived issue) by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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This inertia matrix doesn't satisfy the triangle inequality.

Trying to load the simple arm with simbody:

gazebo --verbose simple_arm.world -e simbody

Results in this error:

[Err] [SimbodyPhysics.cc:326] EXCEPTION: Simbody build EXCEPTION: SimTK Exception thrown at MassProperties.h:552:
  Error detected by Simbody method Inertia::setInertia(xx,yy,zz,xy,xz,yz): Diagonals of an Inertia matrix must satisfy the triangle inequality; got 1.11,100.11,1.01.
  (Required condition 'Ixx+Iyy+Slop>=Izz && Ixx+Izz+Slop>=Iyy && Iyy+Izz+Slop>=Ixx' was not met.)

[osrf-migration]

Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

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it's a problem with the arm_base link

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