Set link inertia
L.I = [Ixx Iyy Izz]
set link inertia to a diagonal matrix.
L.I = [Ixx Iyy Izz Ixy Iyz Ixz]
set link inertia to a symmetric matrix with
specified inertia and product of intertia elements.
L.I = M
set Link inertia matrix to M (3x3) which must be symmetric.
[1] Robotics, Vision & Control, Chap 7, P. Corke, Springer 2011.