fixed example

Author: jhavl

roboticstoolbox/examples/swift_recording.py

@@ -19,7 +19,7 @@
 env = swift.Swift()
 
 # Launch the sim in chrome as only chrome supports webm videos
-env.launch('google-chrome')
+env.launch("google-chrome")
 
 # Create a Panda robot object
 panda = rtb.models.Panda()
@@ -36,7 +36,7 @@
 # Start recording with a framerate of 1/dt and
 # call the video panda_swift_recording
 # Export video as a webm file (this only works in Chrome)
-env.start_recording('panda_swift_recording', 1 / dt)
+env.start_recording("panda_swift_recording", 1 / dt)
 
 # To export as a gif replace the above line with
 # env.start_recording('panda_swift_recording', 1 / dt, format='gif')
@@ -68,7 +68,7 @@
 
     # Calulate the required end-effector spatial velocity for the robot
     # to approach the goal. Gain is set to 1.0
-    v, arrived = rtb.p_servo(Te, Tep, 1.0)
+    v, arrived = rtb.p_servo(Te, Tep, np.ones(6))
 
     # Gain term (lambda) for control minimisation
     Y = 0.01
@@ -83,7 +83,7 @@
     Q[n:, n:] = (1 / e) * np.eye(6)
 
     # The equality contraints
-    Aeq = np.c_[panda.jacobe(panda.q), np.eye(6)]
+    Aeq = np.c_[panda.jacob0(panda.q), np.eye(6)]
     beq = v.reshape((6,))
 
     # The inequality constraints for joint limit avoidance