MJCF to SDF: Added geometry defaults

[ahcorde]

Signed-off-by: ahcorde ahcorde@gmail.com

🎉 New feature

Summary

You can define some defaul values in mujoco:

   <default>
     <geom type="capsule" mass="1"/>
   </default>

This PR allows to read these values and set them

Checklist

• [x] 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)
• [x] codecheck passed (See contributing)
• [x] All tests passed (See test coverage)
• [x] 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.

[codecov[bot]]

Codecov Report

Merging #43 (a78b7e2) into main (590822c) will not change coverage. The diff coverage is 100.00%.

:exclamation: Current head a78b7e2 differs from pull request most recent head 805f8ec. Consider uploading reports for the commit 805f8ec to get more accurate results

@@           Coverage Diff           @@
##             main      #43   +/-   ##
=======================================
  Coverage   97.85%   97.85%           
=======================================
  Files          16       16           
  Lines         653      653           
=======================================
  Hits          639      639           
  Misses         14       14           

Impacted Files	Coverage Δ
...cf_to_sdformat/mjcf_to_sdformat/converters/link.py	100.00% <100.00%> (ø)
...f_to_sdformat/mjcf_to_sdformat/converters/world.py	97.43% <100.00%> (+0.21%)	:arrow_up:
...rmat_to_mjcf/sdformat_to_mjcf/converters/sensor.py	100.00% <0.00%> (ø)

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