mjcf->sdformat sliding friction

[scpeters]

🎉 New feature

Follow-up to https://github.com/gazebosim/gz-mujoco/pull/70

Summary

This supports translation of sliding friction parameters from MJCF to SDFormat, the reverse of #70. It requires https://github.com/gazebosim/sdformat/pull/1049 and will remain in draft state until that is merged.

Test it

• Run tests
• Convert tests/resources/friction_demo.sdf to MJCF and then back again and run both world files in gazebo to compare the sliding behavior.

sdformat2mjcf friction_demo.sdf friction_demo_1.xml
mjcf2sdformat friction_demo_1.xml friction_demo_2.sdf

Checklist

• [X] Signed all commits for DCO
• [X] 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)
• [X] 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 #86 (359552a) into main (9ae088d) will increase coverage by 0.00%. The diff coverage is 100.00%.

@@           Coverage Diff           @@
##             main      #86   +/-   ##
=======================================
  Coverage   95.15%   95.16%           
=======================================
  Files          24       24           
  Lines        1177     1179    +2     
=======================================
+ Hits         1120     1122    +2     
  Misses         57       57           

Impacted Files	Coverage Δ
...ormat_mjcf/mjcf_to_sdformat/converters/geometry.py	96.84% <100.00%> (+0.06%)	:arrow_up:

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[azeey]

Fixed test error in https://github.com/gazebosim/gz-mujoco/pull/86/commits/359552a25158807c21f883de7b78251d21fb983d