Contributor

I noticed some differences between the mjcf xml schema and the documentation's XML Reference. This fixes two of these differences:

1. sensor/user element's attribute defaults. The corresponding change to mujoco was made in google-deepmind/mujoco@221c63d.
2. size element's memory attribute. I believe the corrensponding change to mujoco was made in google-deepmind/mujoco@58fd72f.

Also adds two test cases through test_model.xml, which both fail without these schema changes.

Update sensor/user attribute restrictions

0e56598

Add test for user/sensor without optional fields

bb52f8c

Add memory attribute to size element

6770d2f

Add test for size element's memory attribute

8e0f811

yuvaltassa approved these changes Feb 16, 2023

View reviewed changes