Fix URDFs with proxy inertia for simulation

Required for the MEMMO deliverable D3.3

This adds minor inertia and fixes the URDFs for simulation with PyBullet

Also applied XML formatting to the ANYmal-Kinova URDF

@wxmerkt: Interesting. It looks like the CI is failing because your fork lacks the last tags. Can you add the tags and relaunch the CI ?

If this works, then we should add this usecase to the current discussions in the jrl-cmakemodules about version computing.

That would be a strange failure. I thought it gets this information from the package.xml first and only then tags second?

I don't think the jrl-cmakemodule ever read the package.xml to get the version for now. I advocated for this here: https://github.com/jrl-umi3218/jrl-cmakemodules/pull/282 but this is not yet deciced nor merged.

Thank you for the pointer - I lost track of the discussion and I thought it had already been merged.

merged

mentioned in commit e6db50ce