Create dynamics aspect for collision shape in sdf parser

[jslee02]

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• Document new methods and classes
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• Set version target by selecting a milestone on the right side
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[codecov]

Codecov Report

Merging #1386 into master will decrease coverage by 0.02%.
The diff coverage is 100%.

@@            Coverage Diff             @@
##           master    #1386      +/-   ##
==========================================
- Coverage      57%   56.98%   -0.03%     
==========================================
  Files         366      366              
  Lines       27415    27416       +1     
==========================================
- Hits        15628    15622       -6     
- Misses      11787    11794       +7

Impacted Files	Coverage Δ
dart/utils/sdf/SdfParser.cpp	66.17% <100%> (+0.06%)	⬆️
dart/constraint/ContactConstraint.cpp	71.97% <0%> (-2.95%)	⬇️
dart/dynamics/Skeleton.cpp	66.22% <0%> (+0.16%)	⬆️