Fixes, add RectifiedSpring/RELUSpring to docs, remove from compliant_path_following.jl example. Fix URDF parsing mesh scaling.

Author: Larbino1

docs/src/api/api.md

@@ -162,6 +162,7 @@ VMRobotControl.Storage
 LinearSpring
 TanhSpring
 GaussianSpring
+RectifiedSpring
 GravityCompensator
 ForceSource
 PowerSource

examples/compliant_path_following.jl

@@ -128,8 +128,8 @@ add_component!(vm, LinearDamper(100.0, "CartPosition"); id="CartDamper");
 # the force will be reduced to ensure that the power does not exceed 10W.
 vms = VirtualMechanismSystem("System", robot, vm)
 err_coord = CoordDifference(".virtual_mechanism.CartPosition", ".robot.TCP")
-err_spring = LinearSpring(3000.0 * identity(3), "CartError")
-err_damper = LinearDamper(50.0 * identity(3), "CartError")
+err_spring = LinearSpring(3000.0, "CartError")
+err_damper = LinearDamper(50.0, "CartError")
 
 add_coordinate!(vms, err_coord;     id="CartError")
 add_component!(vms, err_spring;     id="CartErrSpring")

src/components/storages.jl

@@ -300,7 +300,18 @@ end
 ############################
 # ReLUSpring
 ############################
+"""
+    RectifiedSpring(stiffness, coord, flipped::Bool)
+    ReLUSpring(stiffness, coord, flipped::Bool)
+
+A linear spring which acts only when the coordinate is positive (flipped=false) or negative 
+(flipped=true). 
 
+Check implementation details if applying to any coordinate larger than 1D, to ensure
+behaviour is as expected. 
+
+See also [`add_deadzone_springs`](@ref).
+"""
 @kwdef struct RectifiedSpring{T<:Real, K, C} <: Storage{T}
     stiffness::K
     coord::C

src/mesh_utils.jl

@@ -6,7 +6,19 @@ end
 
 transform_mesh(mesh, tf::Nothing) = mesh
 
-function rescale_mesh(mesh, scale)
+
+function rescale_geometry(geom, scale)
+    if typeof(geom) <: GeometryBasics.Mesh
+        return rescale_mesh(geom, scale)
+    elseif typeof(geom) <: Vector{<:Tuple{<:GeometryBasics.Mesh, <:Any}}
+        return [(rescale_mesh(mesh, scale), kwargs) for (mesh, kwargs) in geom]
+    else
+        error("Unsupported geometry type: $(typeof(geom))")
+    end
+end
+
+
+function rescale_mesh(mesh::GeometryBasics.Mesh, scale)
     c, f = GeometryBasics.coordinates(mesh), GeometryBasics.faces(mesh)
     if prod(scale)< 0
         # If scaling will turn the mesh inside out, then reverse the chirality of the faces by

src/urdf/parse_urdf.jl

@@ -150,7 +150,8 @@ function parse_link!(mechanism, link, cfg)
 end
 
 function parse_inertial!(mechanism, inertial, link_frame, cfg)
-    transform = nothing
+    # Default to no transform
+    transform = zero(Transform{cfg.element_type}) 
     mass = nothing
     inertia = nothing
     for node in eachelement(inertial)
@@ -287,11 +288,13 @@ function parse_geometry(geometry_node, cfg)
             geom = Sphere3{Float64}(SVector(0, 0, 0), r)
         elseif nn == "mesh"
             filename = node["filename"]
-            geom = load_mesh(filename, cfg)
+            geom = load_mesh(filename, cfg) 
+            # This will either be a mesh, or vector of tuples containing mesh and kwargs for 
+            # visual properties
             if haskey(node, "scale") 
                 scale_vec = parse_3vec(node["scale"], cfg)
                 scale = GeometryBasics.Point{3, Float64}(scale_vec...)
-                geom = VMRobotControl.rescale_mesh(geom, scale)
+                geom = VMRobotControl.rescale_geometry(geom, scale)
             end
         else 
             raise_not_recognized(nn, cfg)