Collision change
@@ -198,6 +198,7 @@ class ETS(object):
'eta': [],
'q_idx': link.q_idx,
'geometry': [],
+ 'collision': [],
't': link._fk.t.tolist(),
'q': r2q(link._fk.R).tolist()
}
@@ -206,7 +207,20 @@ class ETS(object):
li['axis'].append(et.axis)
li['eta'].append(et.eta)
- for gi in link.geometry:
+ # for gi in link.geometry:
+ # g_fk = link._fk * gi.base
+ # if gi.scale is not None:
+ # scale = gi.scale.tolist()
+ # else:
+ # scale = [1, 1, 1]
+ # li['geometry'].append({
+ # 'filename': gi.filename,
+ # 'scale': scale,
+ # 't': g_fk.t.tolist(),
+ # 'q': r2q(g_fk.R).tolist()
+ # })
+
+ for gi in link.collision:
g_fk = link._fk * gi.base
if gi.scale is not None:
scale = gi.scale.tolist()
