Upgrade Drake SDFormat 1.8 (for Model Composition)

[EricCousineau-TRI]

Proposal: SDFormat: Model Composition Towards: https://github.com/osrf/sdformat/issues/278

Assigned to me, but will reassign to @azeey once permissions are setup

Suggested PR train:

• [x] #14705 Upgrade to libsdformat10
• [x] #14848 Upgrade to libsdformat11 w/ minimal changes
• [x] ~#14401~ Upgrade to use SDFormat 1.8, without interface API
  • [x] #15099 Must avoid registering implicit model frame in Drake
• [x] #15140 Upgrade to use SDFormat 1.8, with interface API

[EricCousineau-TRI]

Example PRs to examine:

• WIP for phantom: #13128
• Model upgrade to 1.7: https://github.com/RobotLocomotion/drake/pull/13758
• WIP for developing: https://github.com/RobotLocomotion/drake/pull/12061
• Actual upgrade: https://github.com/RobotLocomotion/drake/pull/12505

Files:

• https://github.com/RobotLocomotion/drake/blob/0c5affa7f913d104d8f10559f0fd012fd8bf8797/multibody/parsing/detail_sdf_parser.cc + unittest + header
• https://github.com/RobotLocomotion/drake/blob/0c5affa7f913d104d8f10559f0fd012fd8bf8797/multibody/parsing/detail_scene_graph.cc + unittest + header