Set spotlight inner/outer angles and falloff to match Gazebo

[azeey]

🦟 Bug fix

Summary

For the following mjcf file,

<mujoco model="light_test">
  <asset>
    <texture name="grid" type="2d" builtin="flat" mark="cross" width="256" height="256"/>
    <material name="grid" texture="grid" texrepeat="2 2" texuniform="true"/>
  </asset>
  <worldbody>
    <geom name="floor" size="4 4 0.005" type="plane" material="grid"/>
    <light name="spotlight" pos="0 0 2" dir="0 0 -1" cutoff="45" castshadow="false" exponent="0"/>
    <geom name="box" size="0.5 0.5 0.5" type="box" pos="0 0 0.5" rgba="0 1 0 1"/>
  </worldbody>
</mujoco>

Mujoco displays:

And before the fix, gz-sim displays:

After this PR, gz-sim displays:

With exponent set to 10, Mujoco displays:

Before the fix, gz-sim displays the same image as before. After this PR, it displays:

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.

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[codecov[bot]]

Codecov Report

Merging #83 (95a0875) into main (8e199b5) will increase coverage by 0.03%. The diff coverage is 100.00%.

@@            Coverage Diff             @@
##             main      #83      +/-   ##
==========================================
+ Coverage   95.14%   95.17%   +0.03%     
==========================================
  Files          24       24              
  Lines        1092     1099       +7     
==========================================
+ Hits         1039     1046       +7     
  Misses         53       53              

Impacted Files	Coverage Δ
...sdformat_mjcf/mjcf_to_sdformat/converters/light.py	100.00% <100.00%> (ø)
...ormat_mjcf/mjcf_to_sdformat/converters/material.py	95.45% <100.00%> (+0.45%)	:arrow_up:
sdformat_mjcf/src/sdformat_mjcf/utils/sdf_utils.py	90.51% <100.00%> (+0.33%)	:arrow_up:

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