Merge dev to main #12
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…up_test_mechanisms.jl to make running tests independently simpler. Fixed projecting joint torque for revolute joints.
…path_following.jl example. Fix URDF parsing mesh scaling.
…ome coordinate force propagation implementations to be correct and pass tests. 2 tests failing: RNE inertance matrices on 2 link robots.
…ng of rsons/urdfs. Retains filename if mesh for a visual came from a file. Some minor updates to RNE related code.
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