Fixed offset from flange to tooltip
@@ -43,7 +43,7 @@ class Panda(SerialLink):
mm = 1e-3
flange = (107)*mm
- d7 = (58.4)*mm
+ d7 = (103)*mm
L1 = Revolute(a = 0.0, d = 0.333, alpha = 0.0, qlim = np.array([-2.8973, 2.8973]), mdh = 1)
L2 = Revolute(a = 0.0, d = 0.0, alpha = -np.pi/2, qlim = np.array([-1.7628, 1.7628]), mdh = 1)
