code: def discrete(self, vertices, scale=1.0):
          
          discrete = self._orient(vertices[self.points])
          return discrete
docs: Discretize into a world- space path.
  
          Parameters
          ------------
          vertices: (n, dimension) float
            Points in space
          scale : float
            Size of overall scene for numerical comparisons
  
          Returns
          -------------
          discrete: (m, dimension) float
            Path in space composed of line segments