G.A. vd. Hoorn

> However I believe the wrist3.dae was forgotten only for the UR3 in this commit by @j-polden : [da652cf#diff-ae6e1415a6620b312668ab17564ad6e0](https://github.com/ros-industrial/universal_robot/commit/da652cf3cca789d053c06fb069b25e37d95848da#diff-ae6e1415a6620b312668ab17564ad6e0) looks like it, yes.

did you make any progress with this @rtonnaer?

@rtonnaer: I'll unassign this for now. We'll keep the issue around for someone else to work on. Thanks @ipa-led for some initial investigation.

As I don't have access to a KR 210, I need someone to verify for me that I can safely re-use the `base` transform of the KR 120. @tingelst: would...

While you're at it, you may want to take a look at https://github.com/ros-industrial/universal_robot/projects/1 as well. There may be PRs there which affect this issue.

Would you have an idea of how many of those PRs would get into trouble? All of them?

What about getting those merged first? Would that be an option?

I'd be ok with merging #358 into `melodic-devel-staging`. The rest of the IK related PRs should then also go into that branch. Could you 'review' #358 and post a thumbs...

Thanks for the PR. Can you say anything about the (perceived) 'quality' of the velocities that come out of this? In my experience dx/dt is really not a very good...

I agree. We could make this configurable by the user, with a default `off`.