support lights, materials and worlds

[ahcorde]

🎉 New feature

Summary

I creatd this as a draft because we should split the functionally in smalls PR, anyhow this branch will allow us to test the full converter.

This gif shows lights (sun), materials (colors) and a world

Checklist

• [ ] Signed all commits for DCO
• [ ] Added tests
• [ ] Added example and/or tutorial
• [ ] Updated documentation (as needed)
• [ ] Updated migration guide (as needed)
• [ ] Consider updating Python bindings (if the library has them)
• [ ] codecheck passed (See contributing)
• [ ] All tests passed (See test coverage)
• [ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[Kakcalu13]

side question,

Do you know if Gazebo's plugins and sensors are available in Mujoco too? Like can I control the image display, joint_controller, and all of this? JW or is this on the list too?

[ahcorde]

Smalls PRs:

• Lights https://github.com/gazebosim/gz-mujoco/pull/36
  • https://github.com/gazebosim/gz-mujoco/pull/19
• World https://github.com/gazebosim/gz-mujoco/pull/37
• Material https://github.com/gazebosim/gz-mujoco/pull/34