Allow SdfParser to set default root joint type

[jslee02]

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[codecov]

Codecov Report

Merging #1617 (49eb39f) into main (0cc469b) will increase coverage by 0.03%.
The diff coverage is 69.73%.

❗ Current head 49eb39f differs from pull request most recent head 92e3e73. Consider uploading reports for the commit 92e3e73 to get more accurate results

@@            Coverage Diff             @@
##             main    #1617      +/-   ##
==========================================
+ Coverage   59.06%   59.10%   +0.03%     
==========================================
  Files         477      477              
  Lines       39880    39938      +58     
==========================================
+ Hits        23556    23604      +48     
- Misses      16324    16334      +10     

Impacted Files	Coverage Δ
dart/dynamics/Joint.hpp	100.00% <ø> (ø)
dart/utils/sdf/SdfParser.cpp	76.49% <62.16%> (-1.31%)	⬇️
dart/dynamics/Joint.cpp	59.03% <73.33%> (+3.05%)	⬆️
python/dartpy/utils/SdfParser.cpp	82.14% <79.16%> (+7.14%)	⬆️
dart/dynamics/EulerJoint.cpp	70.17% <0.00%> (-2.93%)	⬇️
dart/dynamics/ZeroDofJoint.cpp	27.66% <0.00%> (+4.85%)	⬆️