Panda forward kinematics is WRONG #125
Description
The forward kinematics of rtb.models.Panda() is wrong. This can be easily verified by comparing the Denavit-Hartenberg values or just looking at the zero configuration:
panda = rtb.models.Panda()
print(panda.fkine(np.zeros(7))
which yiels
0.7071 0.7071 0 0.088
0.7071 -0.7071 0 0
0 0 -1 0.8226
0 0 0 1
and not
1 0 0 0.088
0 -1 0 0
0 0 -1 0.926
0 0 0 1