Add python bindings for auto-inertial APIs added in sdf14

[scpeters]

Desired behavior

There should by python bindings for the C++ APIs added to support the automatic calculation of inertial properties in sdf14. I believe the following pull requests include the APIs added for this feature:

• Automatic Moment of Inertia Calculations for Basic Shapes #1299
  • Added Automatic Moment of Inertia Calculations for Basic Shapes Pytho… #1424
• Callback based API for Implementing Custom Moment of Inertia Calculators for Meshes #1304
  • [ ]
• Use //link/inertial/density for auto-inertials #1335
  • [ ]

Alternatives considered

Implementation suggestion

Additional context

[ahcorde]

Related with the first PR #1424