sdf/1.10/joint.sdf: add screw_thread_pitch

[scpeters]

🦟 Bug fix

Fixes https://github.com/gazebosim/sdformat/issues/1125 and adds alternate parameter

Summary

This clarifies the definition (including units and sign convention) of the //joint/thread_pitch parameter in https://github.com/gazebosim/sdformat/commit/3f080e6c5e5c8ed2b02c59b46be84fd37b3fce4f based on the interpretation of this parameter in gazebo-classic, fixing #1125. Based on the additional discussion in that issue, I have added a new element //joint/screw_thread_pitch with units of meters / revolution that is positive for right-handed threads, and deprecates //joint/thread_pitch in SDFormat 1.10. C++ and python APIs for getting and setting the thread pitch using the new units / sign convention are added as well, while preserving the functionality of the existing API.

Checklist

• [X] Signed all commits for DCO
• [X] Added tests
• [X] Updated documentation (as needed)
• [X] Updated migration guide (as needed)
• [X] Consider updating Python bindings (if the library has them)
• [X] codecheck passed (See contributing)
• [X] 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.

[codecov[bot]]

Codecov Report

Merging #1168 (3be0fc1) into sdf13 (bcc2a92) will decrease coverage by 0.00%. The diff coverage is 88.23%.

@@            Coverage Diff             @@
##            sdf13    #1168      +/-   ##
==========================================
- Coverage   87.26%   87.25%   -0.01%     
==========================================
  Files         125      125              
  Lines       16102    16114      +12     
==========================================
+ Hits        14051    14061      +10     
- Misses       2051     2053       +2     

Impacted Files	Coverage Δ
python/src/sdf/pyJoint.cc	64.70% <66.66%> (-0.73%)	:arrow_down:
src/Joint.cc	91.22% <100.00%> (+0.27%)	:arrow_up:

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[scpeters]

I've opened https://github.com/RobotLocomotion/drake/pull/18127 as a draft pull request that uses this branch. I'll mark it as ready for review once this PR has been merged and released