diff --git a/roboticstoolbox/models/DH/Panda.py b/roboticstoolbox/models/DH/Panda.py
index 02774ec7e..95fb69b49 100755
--- a/roboticstoolbox/models/DH/Panda.py
+++ b/roboticstoolbox/models/DH/Panda.py
@@ -56,6 +56,11 @@ def __init__(self):
                     1.91690e-02,
                     6.77200e-03,
                 ],
+                r=[
+                    3.875e-03,
+                    2.081e-03,
+                    0,
+                ],
                 G=1,
             ),
             RevoluteMDH(
@@ -72,6 +77,11 @@ def __init__(self):
                     7.04000e-04,
                     1.02540e-02,
                 ],
+                r=[
+                    -3.141e-03,
+                    -2.872e-02,
+                    3.495e-03,
+                ],
                 G=1,
             ),
             RevoluteMDH(
@@ -88,6 +98,11 @@ def __init__(self):
                     -1.28050e-02,
                     -1.13960e-02,
                 ],
+                r=[
+                    2.7518e-02,
+                    3.9252e-02,
+                    -6.6502e-02,
+                ],
                 G=1,
             ),
             RevoluteMDH(
@@ -104,6 +119,11 @@ def __init__(self):
                     8.64100e-03,
                     -1.33200e-03,
                 ],
+                r=[
+                    -5.317e-02,
+                    1.04419e-01,
+                    2.7454e-02,
+                ],
                 G=1,
             ),
             RevoluteMDH(
@@ -120,6 +140,11 @@ def __init__(self):
                     2.29000e-04,
                     -4.03700e-03,
                 ],
+                r=[
+                    -1.1953e-02,
+                    4.1065e-02,
+                    -3.8437e-02,
+                ],
                 G=1,
             ),
             RevoluteMDH(
@@ -136,6 +161,11 @@ def __init__(self):
                     3.41000e-04,
                     -1.15800e-03,
                 ],
+                r=[
+                    6.0149e-02,
+                    -1.4117e-02,
+                    -1.0517e-02,
+                ],
                 G=1,
             ),
             RevoluteMDH(
@@ -152,6 +182,11 @@ def __init__(self):
                     -7.41000e-04,
                     -1.19600e-03,
                 ],
+                r=[
+                    1.0517e-02,
+                    -4.252e-03,
+                    -4.5403e-02,
+                ],
                 G=1,
             ),
         ]