Fixed the Panda model to have the correct tool offset #72
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Incorporated the flange offset into joint 7 from https://frankaemika.github.io/docs/control_parameters.html#denavithartenberg-parameters.
Fixed the tool transformation the reflect the stock tool of the Panda. This is a transofmation from the end of the flange to the centre of the two fingers where the fingers are alligned in the x-axis.