Fix default compiler.angle value and refactor get_pose_from_mjcf

[azeey]

🦟 Bug fix

Summary

The default value of compiler.angle is "degree" for MJCF (https://mujoco.readthedocs.io/en/latest/XMLreference.html#compiler). This also refactors get_pose_from_mjcf so that the compiler option is always checked when extracting poses from MJCF elements.

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)
• [ ] 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 #68 (bdc9b28) into main (8aabd71) will not change coverage. The diff coverage is n/a.

@@           Coverage Diff           @@
##             main      #68   +/-   ##
=======================================
  Coverage   97.22%   97.22%           
=======================================
  Files          19       19           
  Lines         828      828           
=======================================
  Hits          805      805           
  Misses         23       23           

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