new example

jhavl · jhavl · commit b123fac3ec9f · 2020-11-12T11:34:20.000+10:00
diff --git a/examples/RRMC_swift.py b/examples/RRMC_swift.py
@@ -13,7 +13,7 @@
 panda = rp.models.Panda()
 panda.q = panda.qr
 
-Tep = panda.fkine() * sm.SE3.Tx(-0.2) * sm.SE3.Ty(0.2) * sm.SE3.Tz(0.2)
+Tep = panda.fkine() * sm.SE3.Tx(0.2) * sm.SE3.Ty(0.2) * sm.SE3.Tz(0.45)
 
 arrived = False
 env.add(panda)
diff --git a/roboticstoolbox/models/URDF/Panda.py b/roboticstoolbox/models/URDF/Panda.py
@@ -37,7 +37,7 @@ def __init__(self):
             elinks,
             name=name,
             manufacturer='Franka Emika',
-            gripper_links=elinks[9]
+            gripper_links=[elinks[10], elinks[11]]
         )
 
         self.qdlim = np.array([
