Add shape type and color options to PointCloudShape

[jslee02]

This PR enables PointCloudShape to specify the color and the shape type.

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[codecov]

Codecov Report

Merging #1314 into master will decrease coverage by 0.03%.
The diff coverage is 0%.

@@            Coverage Diff             @@
##           master    #1314      +/-   ##
==========================================
- Coverage   57.16%   57.13%   -0.04%     
==========================================
  Files         366      366              
  Lines       27025    27055      +30     
==========================================
+ Hits        15449    15457       +8     
- Misses      11576    11598      +22

Impacted Files	Coverage Δ
dart/dynamics/PointCloudShape.hpp	0% <ø> (ø)	⬆️
dart/dynamics/PointCloudShape.cpp	0% <0%> (ø)	⬆️
dart/dynamics/Skeleton.cpp	66.12% <0%> (+0.16%)	⬆️
dart/dynamics/EulerJoint.cpp	70.73% <0%> (+3.04%)	⬆️