as @AunSiro pointed out, the DH model of Gaz et al. (from which the dynamics parameters of the panda stem) models the flange with an 8th static joint, here this offset is part of link 7, so the center of mass needs to be adapted accordingly.
also see https://github.com/petercorke/robotics-toolbox-python/pull/304
as @AunSiro pointed out, the DH model of Gaz et al. (from which the dynamics parameters of the panda stem) models the flange with an 8th static joint, here this offset is part of link 7, so the center of mass needs to be adapted accordingly. also see https://github.com/petercorke/robotics-toolbox-python/pull/304