Handle default geom types and mesh scales

[azeey]

🦟 Bug fix

Summary

While trying to convert dm_control/dm_control/suite/dog.xml I noticed that we are not handling geoms without a type attribute. The default value of geom types is sphere according to the MJCF docs.

Apparently it's also possible to specify geom[@mesh] without setting type, and this PR also addresses that.

Finally, we were not checking if geom[@scale] was set when processing meshes. This PR applies the default scale if the attribute is not set.

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[bot]]

Codecov Report

Merging #95 (71b4688) into main (952e032) will increase coverage by 0.00%. The diff coverage is 100.00%.

@@           Coverage Diff           @@
##             main      #95   +/-   ##
=======================================
  Coverage   95.11%   95.12%           
=======================================
  Files          24       24           
  Lines        1168     1170    +2     
=======================================
+ Hits         1111     1113    +2     
  Misses         57       57           

Impacted Files	Coverage Δ
...ormat_mjcf/mjcf_to_sdformat/converters/geometry.py	96.77% <100.00%> (+0.07%)	:arrow_up:

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