remove unused value in the config for js & add wasm package for debug…

…ging

Cargo.toml

@@ -31,6 +31,11 @@ js-sys = "0.3"
 serde_json = "1.0"
 console_error_panic_hook = "0.1"
 
+[dependencies.web-sys]
+version = "0.3"
+features = [
+  "console",
+]
 
 [profile.dev]
 opt-level = 3

src/groove/vars.rs

@@ -12,7 +12,7 @@ use serde::{Serialize, Deserialize};
 
 #[derive(Serialize, Deserialize)]
 pub struct VarsConstructorData {
-    pub urdf: String,
+    // pub urdf: String,
     pub link_radius:f64,
     pub base_links: Vec<String>,
     pub ee_links: Vec<String>,

src/relaxed_ik_web.rs

@@ -6,6 +6,7 @@ use crate::utils_rust::transformations::{*};
 use wasm_bindgen::prelude::*;
 use js_sys::Array;
 extern crate serde_json;
+use web_sys;
 extern crate console_error_panic_hook;
 use nalgebra::{UnitQuaternion, Vector3, Vector6, Quaternion, Point3};