Added get/setPose() and solref/solimp attributes

VirtualRobot/MJCF/elements/core/Attribute.cpp

 #include "Attribute.h"
+
+namespace mjcf
+{
+
+Eigen::Vector5f solimpDefault()
+{
+    Eigen::Vector5f v;
+    v << 0.9f, 0.95f, 0.001f, 0.5, 2;
+    return v;
+}
+
+}

VirtualRobot/MJCF/elements/core/Attribute.h

 #pragma once
 
+#include <VirtualRobot.h>
+#include <VirtualRobot/math/Helpers.h>
+
 #include "Element.h"
 
 
@@ -296,7 +299,23 @@ namespace mjcf
 
 // pose = pos + quat
 #define mjcf_PoseAttributes(Derived) \
-    mjcf_PosAttribute(Derived);\
+    Eigen::Matrix4f getPose() const                                     \
+    { return math::Helpers::Pose(pos.get(), quat.get()); }              \
+    void setPose(const Eigen::Matrix4f& p)                              \
+    {   pos = math::Helpers::Position(p);                               \
+        quat = Eigen::Quaternionf(math::Helpers::Orientation(p));   }   \
+    mjcf_PosAttribute(Derived);                                         \
     mjcf_QuatAttribute(Derived)
 
+
+Eigen::Vector5f mjcf_solimpDefault();
+
+// solref
+#define mjcf_SolrefAttribute(Derived) \
+    mjcf_AttributeDef(Derived, Eigen::Vector2f, solref, Eigen::Vector2f(0.02f, 1.f))
+// solimp
+#define mjcf_SolimpAttribute(Derived) \
+    mjcf_AttributeDef(Derived, Eigen::Vector5f, solimp, mjcf_solimpDefault())
+    
+    
 }