parser_urdf should support new URDF features

## Desired behavior

Support for capsule geometry has been added in URDF 1.1 (urdfdom_headers 2.1.0, urdfdom 5.1.0). The `parser_urdf` should support these geometries if built with a new enough version of `urdfdom`.

Note that gz-cmake's `FindGzURDFDOM` module does not currently expose the `urdfdom_headers` version, but that should be straightforward to add:

* https://github.com/gazebosim/gz-cmake/issues/548

## Alternatives considered

## Implementation suggestion

## Additional context

Start by locating the parser_urdf entry point and the FindGzURDFDOM integration. Check how the project detects urdfdom versions and handles geometry types; the work is done when capsule geometries are supported only with a sufficiently new urdfdom, with the required version information exposed by gz-cmake issue 548.

Written by the indexing model from the issue text.