Update the version requirement on urdfdom so it works with version 4.0

## Environment
* OS Version: Ubuntu 22.04
* Source or binary build? `sdf12`

## Description
https://github.com/ros/urdfdom/pull/186 is updating `urdfdom` to 4.0 and making the `find_package` logic more strict about version numbers. It's not clear if it will break sdformat since https://github.com/gazebosim/sdformat/blob/eee0af8d01d52c9a3cd59f5f7af19112ed2afeb2/CMakeLists.txt#L41

requires anything newer than 1.0. But the change in https://github.com/ros/urdfdom/pull/186 might make it so it only finds versions with the same major version.

### Things to try
- Just remove the `VERSION 1.0` and see if it works since `liburdfdom` versions in all platforms we support is newer than 1.0
- Add logic that also looks for 4.0