neo progress

Author: jhavl

examples/neo.py

@@ -108,7 +108,7 @@
         # object on the robot to the collision in the scene
         c_Ain, c_bin = panda.link_collision_damper(
             collision, panda.q[:n], 0.3, 0.05, 1.0,
-            panda.elinks['panda_joint1'], panda.elinks['panda_hand_joint'])
+            panda.link_dict['panda_link1'], panda.link_dict['panda_hand'])
 
         # If there are any parts of the robot within the influence distance
         # to the collision in the scene

roboticstoolbox/robot/ERobot.py

@@ -470,6 +470,11 @@ def elinks(self):
         return self._links
 # --------------------------------------------------------------------- #
 
+    @property
+    def link_dict(self):
+        return self._linkdict
+# --------------------------------------------------------------------- #
+
     @property
     def base_link(self):
         return self._base_link