Update urdfdom + remove DART deprecations #41

Job	Run time
OS:macos-12-Magnum:ON-Build:Release-Python:OFF-Compiler:gcc-DART:	3m 51s
OS:macos-12-Magnum:ON-Build:Release-Python:OFF-Compiler:gcc-DART:	3m 51s
OS:macos-12-Magnum:ON-Build:Release-Python:OFF-Compiler:gcc-DART:	4m 1s
OS:macos-12-Magnum:ON-Build:Release-Python:OFF-Compiler:gcc-DART:	1m 59s
OS:macos-12-Magnum:ON-Build:Release-Python:OFF-Compiler:gcc-DART:	14m 38s
OS:macos-12-Magnum:OFF-Build:Release-Python:OFF-Compiler:gcc-DART:	3m 7s
OS:macos-12-Magnum:OFF-Build:Release-Python:OFF-Compiler:gcc-DART:	3m 7s
OS:macos-12-Magnum:OFF-Build:Release-Python:OFF-Compiler:gcc-DART:	3m 7s
OS:macos-12-Magnum:OFF-Build:Release-Python:OFF-Compiler:gcc-DART:	3m 7s
OS:macos-12-Magnum:OFF-Build:Release-Python:OFF-Compiler:gcc-DART:	3m 7s
OS:macos-12-Magnum:ON-Build:Release-Python:OFF-Compiler:clang-DART:	3m 23s
OS:macos-12-Magnum:ON-Build:Release-Python:OFF-Compiler:clang-DART:	7m 20s
OS:macos-12-Magnum:ON-Build:Release-Python:OFF-Compiler:clang-DART:	7m 20s
OS:macos-12-Magnum:ON-Build:Release-Python:OFF-Compiler:clang-DART:	7m 20s
OS:macos-12-Magnum:ON-Build:Release-Python:OFF-Compiler:clang-DART:	7m 20s
OS:macos-12-Magnum:OFF-Build:Release-Python:OFF-Compiler:clang-DART:	4m 12s
OS:macos-12-Magnum:OFF-Build:Release-Python:OFF-Compiler:clang-DART:	4m 12s
OS:macos-12-Magnum:OFF-Build:Release-Python:OFF-Compiler:clang-DART:	4m 12s
OS:macos-12-Magnum:OFF-Build:Release-Python:OFF-Compiler:clang-DART:	4m 12s
OS:macos-12-Magnum:OFF-Build:Release-Python:OFF-Compiler:clang-DART:	4m 12s
	1h 37m 38s

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