bullet-featherstone: Set collision spinning friction

[iche033]

🦟 Bug fix

Summary

Set collision spinning friction using on sdf's torsional coefficient value. If not specified in sdf, the default value of 1.0 is used.

When 2 boxes penetrate, bullet pushes them apart. Without the spinning friction set, the boxes will continue to spin indefinitely or until it collides with another object. This PR sets the spinning friction to prevent this from happening

Before:

After:

Checklist

• Signed all commits for DCO
• 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]

Codecov Report

Attention: 5 lines in your changes are missing coverage. Please review.

Comparison is base (af58fa5) 78.68% compared to head (c98cbdf) 78.59%.

Files	Patch %	Lines
bullet-featherstone/src/SDFFeatures.cc	58.33%	5 Missing ⚠️

Additional details and impacted files

@@               Coverage Diff               @@
##           gz-physics6     #579      +/-   ##
===============================================
- Coverage        78.68%   78.59%   -0.09%     
===============================================
  Files              140      140              
  Lines             7648     7654       +6     
===============================================
- Hits              6018     6016       -2     
- Misses            1630     1638       +8     

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