Add wholeBodyDynamics configuration files for iCubGazeboV3

[prashanthr05]

Requires the iCubGazeboV3 URDF model to contain the IMU sensor added in its head link. This is a pending issue in https://github.com/robotology/icub-models/issues/62.

Temporarily, this can be fixed by adding to the URDF,

  <gazebo reference="head">
    <sensor name="head_imu_acc_1x1" type="imu">
      <always_on>1</always_on>
      <update_rate>100</update_rate>
      <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
        <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
            <yarpConfigurationFile>model://iCub/conf_icub3/gazebo_icub_inertial.ini</yarpConfigurationFile>
        </plugin>
    </sensor>
  </gazebo>
  <sensor name="head_imu_acc_1x1" type="accelerometer">
    <parent link="head"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </sensor>

This is done in https://github.com/dic-iit/icub-models/tree/icub3/wbd.

[prashanthr05]

Merged, thanks!