Feature request: add a method to check whether the URDF has the required dynamics quantities

[andreas-botbuilt]

TORA.jl takes into account the full-order system dynamics of a robot, i.e., it considers the mass/inertia parameters of every link throughout the kinematic chain of a robot. Currently, if a URDF does not contain the required dynamics quantities, TORA fails with an unclear error message.

So, the requested feature is: add a method to check whether the URDF has all the required dynamics quantities and if not, log a message to the user that these quantities need to be provided.

This could potentially also be added to the tutorial or the Adding a new robot doc?