Various fixes

src/rod/sdf/element.py

@@ -47,7 +47,7 @@ def serialize_float(data: float) -> str:
     @staticmethod
     def serialize_list(data: list[float]) -> str:
         assert isinstance(data, list)
-        return " ".join(np.array(data, dtype=str))
+        return " ".join(np.array(data, dtype=float).astype(str))
 
     @staticmethod
     def deserialize_list(data: str, length: int | None = None) -> list[float]:
@@ -57,4 +57,4 @@ def deserialize_list(data: str, length: int | None = None) -> list[float]:
         if length is not None:
             assert array.size == length
 
-        return list(array)
+        return array.tolist()

src/rod/sdf/geometry.py

@@ -114,9 +114,34 @@ class Sphere(Element):
 class Geometry(Element):
     box: Box | None = dataclasses.field(default=None)
     capsule: Capsule | None = dataclasses.field(default=None)
-    cylinder: Capsule | None = dataclasses.field(default=None)
-    ellipsoid: Capsule | None = dataclasses.field(default=None)
+    cylinder: Cylinder | None = dataclasses.field(default=None)
+    ellipsoid: Ellipsoid | None = dataclasses.field(default=None)
     heightmap: Heightmap | None = dataclasses.field(default=None)
     mesh: Mesh | None = dataclasses.field(default=None)
-    plane: Mesh | None = dataclasses.field(default=None)
+    plane: Plane | None = dataclasses.field(default=None)
     sphere: Sphere | None = dataclasses.field(default=None)
+
+    def geometries(
+        self,
+    ) -> list[Box | Capsule | Cylinder | Ellipsoid | Heightmap | Mesh | Plane | Sphere]:
+
+        return [
+            self.__getattribute__(field.name)
+            for field in dataclasses.fields(self)
+            if self.__getattribute__(field.name) is not None
+        ]
+
+    def geometry(
+        self,
+    ) -> (
+        Box | Capsule | Cylinder | Ellipsoid | Heightmap | Mesh | Plane | Sphere | None
+    ):
+        """Return the actual shape of the geometry object"""
+
+        geometries = self.geometries()
+
+        if len(geometries) > 1:
+            msg = "More than one geometry found, returning the first one"
+            logging.warning(msg)
+
+        return geometries[0] if len(geometries) > 0 else None

src/rod/sdf/joint.py

@@ -9,12 +9,15 @@
 
 @dataclasses.dataclass
 class Limit(Element):
-    lower: float = dataclasses.field(
-        metadata=mashumaro.field_options(serialize=Element.serialize_float)
+
+    lower: Optional[float] = dataclasses.field(
+        default=None,
+        metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
-    upper: float = dataclasses.field(
-        metadata=mashumaro.field_options(serialize=Element.serialize_float)
+    upper: Optional[float] = dataclasses.field(
+        default=None,
+        metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
     effort: Optional[float] = dataclasses.field(