G.A. vd. Hoorn

Related: #45.

Related: #220.

re: breaking existing setups: personally I would be ok with that in this instance. The current situation with `ur_kinematics` is that it's broken (at least when directly linking), and people...

The test script is a relic from the earliest days of the driver (see a0b1c2c9). I don't think it was ever changed since then. I fully support changing its behaviour...

@Jmeyer1292: have you had any time to work on this?

This will have to be done tick-tock, in order to not break existing installation instructions.

Thanks @davetcoleman, but I'm well aware of how GH handles repository renames. My comment was about more than just the name of the repository itself.

Just noticed that all `link`s have rather high `mass`es specified. `link_1` is 1300 Kg, `link_2` still almost a 1000.

Lacking any way (or time) to get more realistic values for the masses and inertias, I think I'm going to remove the `inertial` elements entirely. This will make it harder...

Hm. I had not noticed that. Let's see what @Jmeyer1292's response is.