Updated to DART 6.12

[amalnanavati]

[Describe this pull request. Link to relevant GitHub issues, if any.] A CI failure recently started cropping up because DART deprecated parseSkeleton in 6.12 (see this DART PR). This PR addresses that.

(In addition, the process of fixing that revealed another CI issue caused by an ambiguous call to clamp, which this PR also addresses)

[Explain how this pull request was tested.]

I've verified that it still works on DART 6.11. The CI will check whether it works on DART 6.12

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Before creating a pull request

• [ N/A ] Document new methods and classes
• [x] Format code with make format

Before merging a pull request

• [x] Set version target by selecting a milestone on the right side
• [x] Summarize this change in CHANGELOG.md
• [ N/A ] Add unit test(s) for this change

[codecov[bot]]

Codecov Report

Merging #619 (adaf8f2) into master (c015cea) will decrease coverage by 0.01%. The diff coverage is 100.00%.

@@            Coverage Diff             @@
##           master     #619      +/-   ##
==========================================
- Coverage   76.12%   76.11%   -0.02%     
==========================================
  Files         206      206              
  Lines        7230     7231       +1     
==========================================
  Hits         5504     5504              
- Misses       1726     1727       +1     

Impacted Files	Coverage Δ
include/aikido/common/detail/algorithm-impl.hpp	100.00% <100.00%> (ø)
src/io/util.cpp	86.66% <100.00%> (+2.05%)	:arrow_up:
src/planner/ompl/CRRT.cpp	72.95% <0.00%> (-0.52%)	:arrow_down:
src/control/ros/Conversions.cpp	80.78% <0.00%> (-0.09%)	:arrow_down:

[amalnanavati]

Great insight @egordon ! I addressed the changes and it's ready to re-review.

@hsnemlekar when you have a moment can you verify that the addBodyFromURDF in the Python bindings still works as expected? The transform was earlier set with (skeleton->getJoint(0))->setTransform(transform) and is now set with (skeleton->getRootJoint())->setTransform(transform). My hunch is that those functions do the same thing, but that wasn't immediately obvious by looking at the DART code. So if you have code that calls that function, could you ensure that it still works as expected?

[amalnanavati]

Heramb verified that the changes have not affected the Python addBodyFromURDF. Merging.