Suggestion to #43: Alternative implementation of MJCF default classes

[azeey]

🎉 New feature

Summary

This implements a class that knows how to process and apply MJCF default classes to any given element. The implementation is based on https://github.com/deepmind/mujoco/blob/d7ae7f54338a8ea02c34f4a969722182481eb72b/unity/Runtime/Importer/MjXmlModifiers.cs.

TODO:

• ~More tests~
• ~Documentation~

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.

[codecov[bot]]

Codecov Report

Merging #61 (78a98a7) into ahcorde/mjcf2sdf/geometry_defaults (5256968) will decrease coverage by 0.06%. The diff coverage is 100.00%.

@@                          Coverage Diff                           @@
##           ahcorde/mjcf2sdf/geometry_defaults      #61      +/-   ##
======================================================================
- Coverage                               97.92%   97.85%   -0.07%     
======================================================================
  Files                                      16       16              
  Lines                                     674      653      -21     
======================================================================
- Hits                                      660      639      -21     
  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%> (-0.07%)	:arrow_down:

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