Should upgrade to libsdformat13

[EricCousineau-TRI]

Not going to be released til end of month, but would be nice to get out in front of it.

Per VC, this came in (yay)! gazebosim/sdformat#1112
Affected code:

drake/multibody/parsing/detail_sdf_parser.cc

Lines 548 to 562 in a2caba1

	// SDF defaults to ±1.0e16 for joints with no limits, see
	// http://sdformat.org/spec?ver=1.6&elem=joint#axis_limit.
	// Drake marks joints with no limits with ±numeric_limits<double>::infinity()
	// and therefore we make the change here.
	const double lower_limit =
	axis->Lower() == -1.0e16 ?
	-std::numeric_limits<double>::infinity() : axis->Lower();
	const double upper_limit =
	axis->Upper() == 1.0e16 ?
	std::numeric_limits<double>::infinity() : axis->Upper();
	if (lower_limit > upper_limit) {
	throw std::runtime_error(
	"The lower limit must be lower (or equal) than the upper limit for "
	"joint '" + joint_spec.Name() + "'.");
	}

There also may be name remapping for ign* to gz* for things like math components.

[scpeters]

I am working on this in the following branch:

• master...scpeters:drake:libsdformat13

[scpeters]

I am working on this in the following branch:

• master...scpeters:drake:libsdformat13

I've opened a draft pull request in #17913