Backport #351 to citadel: fix dartsim inertia matrix rotation

[scpeters]

🦟 Bug fix

Backport #351 to citadel, better late than never (https://github.com/gazebosim/gz-physics/pull/351#issuecomment-1201385754)

Summary

Original commit message:

dartsim: fix handling inertia matrix pose rotation (#351)

When loading a model from SDF, the moment of inertia matrix is currently applying any rotations in the //inertial/pose two times, since the rotations are applied explicitly, but they are already applied in math::Inertial::Moi.

Checklist

• [X] Signed all commits for DCO
• [ ] Added tests
• [ ] 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

Note to maintainers: Remember to use Rebase-and-Merge.

[scpeters]

FYI @j-rivero the ign_physics-ci-pr_any-homebrew-amd64 build is using the wrong formula name: ign-physics2 instead of ignition-physics2

+ brew install ign-physics2 --only-dependencies
Warning: No available formula with the name "ign-physics2". Did you mean gz-physics8, gz-physics7 or gz-physics6?
==> Searching for similarly named formulae and casks...
==> Formulae
osrf/simulation/gz-physics8
osrf/simulation/gz-physics7
osrf/simulation/gz-physics6

To install osrf/simulation/gz-physics8, run:
  brew install osrf/simulation/gz-physics8
Build step 'Execute shell' marked build as failure

[j-rivero]

@osrf-jenkins run tests

[scpeters]

I could add ign-* aliases for citadel and fortress formulae if that's simpler than fixing the release-tools logic

[j-rivero]

I could add ign-* aliases for citadel and fortress formulae if that's simpler than fixing the release-tools logic

Lets try to fix the problem in the right way https://github.com/gazebo-tooling/release-tools/pull/1068

[j-rivero]

@osrf-jenkins run tests please

[scpeters]

thanks @j-rivero! the homebrew build is working now