Fix harmonic per-library tutorial links

[mabelzhang]

🦟 Bug fix

Summary

Fix all the per-library tutorial links, except for sdf14, which doesn't exist yet and would be https://gazebosim.org/api/sdformat/14

Checklist

• [x] Signed all commits for DCO
• [ ] Added tests
• [x] Updated documentation (as needed)
• [ ] Updated migration guide (as needed)
• [ ] Consider updating Python bindings (if the library has them)
• [ ] codecheck passed (See contributing)
• [ ] All tests passed (See test coverage)
• [ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers

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