[workspace] Upgrade sdformat_internal to latest (#21798)

Co-Authored-By: Rick Poyner <rick.poyner@tri.global>

Author: BetsyMcPhail

multibody/parsing/detail_sdf_geometry.cc

@@ -202,6 +202,9 @@ std::optional<std::unique_ptr<geometry::Shape>> MakeShapeFromSdfGeometry(
     case sdf::GeometryType::POLYLINE: {
       return std::unique_ptr<geometry::Shape>(nullptr);
     }
+    case sdf::GeometryType::CONE: {
+      return std::unique_ptr<geometry::Shape>(nullptr);
+    }
   }
 
   DRAKE_UNREACHABLE();
@@ -251,6 +254,7 @@ std::optional<std::unique_ptr<GeometryInstance>>
     case sdf::GeometryType::HEIGHTMAP:
     case sdf::GeometryType::BOX:
     case sdf::GeometryType::CAPSULE:
+    case sdf::GeometryType::CONE:
     case sdf::GeometryType::CYLINDER:
     case sdf::GeometryType::ELLIPSOID:
     case sdf::GeometryType::MESH:
@@ -421,6 +425,7 @@ RigidTransformd MakeGeometryPoseFromSdfCollision(
     case sdf::GeometryType::HEIGHTMAP:
     case sdf::GeometryType::BOX:
     case sdf::GeometryType::CAPSULE:
+    case sdf::GeometryType::CONE:
     case sdf::GeometryType::CYLINDER:
     case sdf::GeometryType::ELLIPSOID:
     case sdf::GeometryType::MESH:

tools/workspace/sdformat_internal/package.BUILD.bazel

@@ -71,6 +71,7 @@ _MOST_HDRS = [
     "include/sdf/Camera.hh",
     "include/sdf/Capsule.hh",
     "include/sdf/Collision.hh",
+    "include/sdf/Cone.hh",
     "include/sdf/Console.hh",
     "include/sdf/CustomInertiaCalcProperties.hh",
     "include/sdf/Cylinder.hh",
@@ -168,6 +169,7 @@ _SRCS = [
     "src/Camera.cc",
     "src/Capsule.cc",
     "src/Collision.cc",
+    "src/Cone.cc",
     "src/Console.cc",
     "src/Converter.cc",
     "src/Converter.hh",

tools/workspace/sdformat_internal/repository.bzl

@@ -9,9 +9,9 @@ def sdformat_internal_repository(
         # drake/tools/workspace/new_release.py.  When practical, all members
         # of this cohort should be updated at the same time.
         repository = "gazebosim/sdformat",
-        commit = "sdformat14_14.2.0",
+        commit = "sdformat14_14.5.0",
         build_file = ":package.BUILD.bazel",
-        sha256 = "8ecfd48b5cd54a4c8a060a98fec16e2d8d42802d07445f234d608df813e624fc",  # noqa
+        sha256 = "44ff4916be63cad987c8ff2c21b3473e1e79c85a9b4fb83029536ed0ab0403e2",  # noqa
         patches = [
             ":patches/console.patch",
             ":patches/deprecation_unit_testing.patch",