Use identified dyanmics model in panda.urdf

[marcbone]

To make the dynamics of the panda robot more realistic one could use the inertias and masses that were identified in:
C. Gaz, M. Cognetti, A. Oliva, P. Robuffo Giordano, A. De Luca, 'Dynamic Identification of the Franka Emika Panda Robot With Retrieval of Feasible Parameters Using Penalty-Based Optimization'. IEEE RA-L, 2019.

The inertias and masses can be found here in table 8 and 9.
They have already been implemented in the URDF in franka_ros and can be copied.