MJCF to SDF: Improved inertia

[ahcorde]

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

🦟 Bug fix

Summary

Checklist

• [x] Signed all commits for DCO
• [x] 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 #48 (bb61d7a) into main (5a6ce8d) will increase coverage by 0.02%. The diff coverage is 100.00%.

@@            Coverage Diff             @@
##             main      #48      +/-   ##
==========================================
+ Coverage   97.77%   97.79%   +0.02%     
==========================================
  Files          16       16              
  Lines         628      636       +8     
==========================================
+ Hits          614      622       +8     
  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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[scpeters]

I resolved conflicts but am getting a test failure locally

[azeey]

tests are failing.

[ahcorde]

tests are failing.

@azeey Fixed

[ahcorde]

nit: this is a position, not a pose, so I would rename inertia_pose to inertia_position or inertia_pos

@scpeters https://github.com/gazebosim/gz-mujoco/pull/48/commits/55a3dc5d8446b30e2bd8b901a9eb8d3e98c4958a