Move geometry copy

Author: jhavl

roboticstoolbox/robot/ELink.py

@@ -61,6 +61,10 @@ def __str__(self):
 
     def copy(self, parent=None):
         new = super().copy()
+
+        new._geometry = [shape.copy() for shape in self._geometry]
+        new._collision = [shape.copy() for shape in self._collision]
+
         # invalidate references to parent, child
         new._parent = parent
         new._children = []

roboticstoolbox/robot/Link.py

@@ -170,8 +170,9 @@ def copy(self):
             if k.startswith("_") and isinstance(v, np.ndarray):
                 setattr(new, k, np.copy(v))
 
-        new._geometry = [shape.copy() for shape in self._geometry]
-        new._collision = [shape.copy() for shape in self._collision]
+        # if isinstance(self, rtb.ELink):
+        #     new._geometry = [shape.copy() for shape in self._geometry]
+        #     new._collision = [shape.copy() for shape in self._collision]
 
         # print(new._geometry[0]._wT)
         # print(self._geometry[0]._wT)