Add conversion for SDFormat Models

[azeey]

🎉 New feature

Summary

Adds conversion for SDFormat models where the kinematic hierarchy is assumed to be a tree.

Needs #32 for tests to pass.

Test it

Run unittests test_add_model.py and test_sdf_kinematics.py

Checklist

• [x] Signed all commits for DCO
• [x] Added tests
• [ ] Added example and/or tutorial
• [x] Updated documentation (as needed)
• [ ] Updated migration guide (as needed)
• [ ] Consider updating Python bindings (if the library has them)
• [x] 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

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.