Update auto inertial calculation tutorial

[iche033]

🎉 New feature

Depends on #2770, #2775

Summary

Update tutorial to reflect new changes in #2770, #2775, and gazebosim/sdformat#1525

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• 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 Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

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Additional details and impacted files

@@            Coverage Diff             @@
##             gz-sim9    #2782   +/-   ##
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  Coverage           ?   68.88%           
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  Files              ?      343           
  Lines              ?    33194           
  Branches           ?        0           
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  Hits               ?    22867           
  Misses             ?    10327           
  Partials           ?        0           

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