Enable URDF parser to read visual and collision names

[jslee02]

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• Document new methods and classes
• Format new code files using clang-format

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• Set version target by selecting a milestone on the right side
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[codecov]

Codecov Report

Merging #1410 into master will decrease coverage by <.01%.
The diff coverage is 75%.

@@            Coverage Diff             @@
##           master    #1410      +/-   ##
==========================================
- Coverage   57.32%   57.31%   -0.01%     
==========================================
  Files         367      367              
  Lines       27517    27521       +4     
==========================================
  Hits        15774    15774              
- Misses      11743    11747       +4

Impacted Files	Coverage Δ
dart/utils/urdf/DartLoader.cpp	78.78% <75%> (-0.06%)	⬇️
dart/dynamics/Skeleton.cpp	66.05% <0%> (-0.17%)	⬇️