Add default options to DartLoader for missing properties in URDF files

[jslee02]

Enable to pass parsing options to DartLoader. Currently the options are default resource retriever, default root joint type, and default inertia of link. The default inertia options is to resolve #1604.

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[codecov]

Codecov Report

Merging #1605 (7b2a635) into main (552f8d1) will decrease coverage by 0.03%.
The diff coverage is 60.13%.

@@            Coverage Diff             @@
##             main    #1605      +/-   ##
==========================================
- Coverage   59.05%   59.02%   -0.04%     
==========================================
  Files         473      473              
  Lines       39727    39808      +81     
==========================================
+ Hits        23462    23495      +33     
- Misses      16265    16313      +48     

Impacted Files	Coverage Δ
dart/utils/urdf/DartLoader.cpp	66.66% <44.44%> (-10.29%)	⬇️
python/dartpy/utils/DartLoader.cpp	82.81% <82.53%> (+16.85%)	⬆️