fix copy

jhavl · jhavl · commit 81dc8748890a · 2022-05-11T20:52:39.000+10:00
diff --git a/roboticstoolbox/robot/Link.py b/roboticstoolbox/robot/Link.py
@@ -298,7 +298,7 @@ def __str__(self):
         s = self.__class__.__name__ + "("
         if self.name is not None:
             s += f'"{self.name}"'
-        
+
         ets = self.ets
         if len(ets) > 0:
             s += f", {ets}"
@@ -380,8 +380,8 @@ def __deepcopy__(self, memo):
         Tc = deepcopy(self.Tc)
         G = deepcopy(self.G)
         qlim = deepcopy(self.qlim)
-        geometry = [shape.copy() for shape in self._geometry]
-        collision = [shape.copy() for shape in self._collision]
+        geometry = [deepcopy(shape) for shape in self._geometry]
+        collision = [deepcopy(shape) for shape in self._collision]
 
         cls = self.__class__
         result = cls(
@@ -1138,7 +1138,7 @@ def format(l, fmt, val):  # noqa
                     s = ", ".join([fmt.format(v) for v in val])
                 except TypeError:
                     # handle symbolic case
-                    s = ", ".join([str(v) for v in val])                    
+                    s = ", ".join([str(v) for v in val])
             else:
                 try:
                     s = fmt.format(val)
@@ -1159,8 +1159,6 @@ def format(l, fmt, val):  # noqa
 
         return dyn
 
-
-
     def _params(self, name=True):  # pragma nocover
         def format_param(
             self, l, name, symbol=None, ignorevalue=None, indices=None
@@ -1187,11 +1185,14 @@ def format_param(
                 #         flat = v.flatten()
                 #         v = np.r_[[flat[k] for k in indices]]
                 #     s = f"{name}=[" + ", ".join([f"{x:.3g}" for x in v]) + "]"
-                    if indices is not None:
-                        v = v.ravel()[indices]
-                    s = f"{name}=" + np.array2string(v, separator=', ', 
-                            suppress_small=True, 
-                            formatter={'float': lambda x: f"{x:.3g}"})
+                if indices is not None:
+                    v = v.ravel()[indices]
+                s = f"{name}=" + np.array2string(
+                    v,
+                    separator=", ",
+                    suppress_small=True,
+                    formatter={"float": lambda x: f"{x:.3g}"},
+                )
             if s is not None:
                 l.append(s)
 
@@ -1381,7 +1382,6 @@ def __init__(
                 self._ets[-1].jindex = jindex
                 self._ets._auto_jindex = False
 
-
     # @property
     # def ets(self: "Link") -> "ETS":
     #     """
@@ -1524,4 +1524,4 @@ def A(self, q: float = 0.0) -> SE2:
 
     # a = rtb.models.URDF.UR5()
     # print(a[3])
-    # print(repr(a[3]))
+    # print(repr(a[3]))
