Fixed geom poses

[ahcorde]

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

🦟 Bug fix

Summary

This PR fixes the pose of the visuals/collisions

• subbodies are "relative_to" the parent body
• fromto set the orientation and pose of the geom

You can test this with the acrobot.xml file inside dm_control

Checklist

• [x] Signed all commits for DCO
• [ ] Added tests
• [ ] 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 #47 (eb4a308) into main (315f722) will increase coverage by 0.06%. The diff coverage is 100.00%.

@@            Coverage Diff             @@
##             main      #47      +/-   ##
==========================================
+ Coverage   97.55%   97.62%   +0.06%     
==========================================
  Files          16       16              
  Lines         573      589      +16     
==========================================
+ Hits          559      575      +16     
  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	96.15% <100.00%> (ø)

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