Uses standalone version of jrl_dynamics_urdf for groovy and hydro

This commit makes uses of the stand alone version of jrl_dynamics_urdf for both groovy and hydro.

Requires:
Merge of https://github.com/stack-of-tasks/dynamic_graph_bridge/pull/21
and corresponding update of redundant_manipulator_control

Makes https://github.com/laas/jrl_dynamics_urdf/pull/10 useless