Merge with spot_arm urdf from spot_ros2#144

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EceChaik wants to merge 5 commits intoheuristicus:masterfrom EceChaik:master

+118,772-246

Commits on Sep 21, 2023

replaces spot_arm urdf
EceChaik
committed

Commits on Sep 28, 2023

Commits on Oct 18, 2023

fix wr0 friendly name misspell
EceChaik
committed

Commits on Oct 23, 2023

Set virtual joint hr0 mass to 1e-3 for gazebo inclusion
heuristicus
authored