armarx/ArmarXSimulation: Require gazeosim/sdformat (add modules for gazeosim/{gz-cmake, gz-util, gz-math, sdformat})

Contains

• !408 (merged)

Required for:

• sw/armarx/armarx-simulation!55 (merged)
• https://git.h2t.iar.kit.edu/research-projects/jubot/jubot-simulation/-/merge_requests/2