fix: add joints dynamical parameters for gazebo simulation

[MarcoMagriDev]

To achieve a stable behavior of the robot controlled in gazebo simulation the dynamical parameters of the joints are adjusted as suggested here

[MatthijsBurgh]

@MarcoMagriDev the values in this PR are 10x bigger than in the mentioned issue. Any reason?

[MarcoMagriDev]

@MatthijsBurgh
Since it has been a long time since I submitted the request, I hope I remember correctly.
The proposed values are different from those mentioned in the issues for two reasons:

• the robot dynamic parameters (masses, intertias) are different
• the simulation step that i have used (0.001s) is smaller than the one related to the issue