Panda link1 and link2 have the same position, which seems not critical at all.

[Lejou]

In panda urdf, the frames of link1 and link2 has the same positions, which seems to be not critical and different from the other robots. And also, in rviz, the frames on robot seem to be a little bit strange somehow.
I think, the frames should be set with the same way, and I am not sure what benifit it is to set the link1 frame at the end of link1, but not at the start of link1. Anything I omit, or it intends to do that.
Anyway, it is just my own suggestion, set the link1 frame at the start of link1, just like the other links for consistance.

[Maverobot]

Thanks for the feedback. This implementation follows https://frankaemika.github.io/docs/control_parameters.html#denavithartenberg-parameters. It won't be changed.