G.A. vd. Hoorn

> With the values coming from UR the inertia boxes are angled (some quite significantly). @fmauch: could you perhaps attach a screenshot?

@fmauch wrote: > It looks like this: [...] Comparing it to the IRB 1200 over at `abb_experimental` (just to have something to compare with): 

This is certainly off-topic for this PR, but: [nilseuropa/gazebo_ros_motors](https://github.com/nilseuropa/gazebo_ros_motors).

I think I do, but I'm not sure about a resolution. Do you get a warning/error about goals being `LOST` as well?

For your particular system there is #179. There are a couple of open PRs trying to address it in a more generic fashion: #259, #488 and https://github.com/ros-industrial/motoman/compare/kinetic-devel...jmarsik:motoman:kmr-multigroup.

tl;dr: ROS side of driver (incorrectly) assumes order of joint data in incoming goals is identical to what it is configured for / the joint order motoros expects, leading to...

This was reported by @jettan, @mbharatheesha and @de-vri-es.

I'm not sure, but I think the above described assumption (about joint name ordering) is (at least partly) why the joints and links in fi the `motoman_sda10f` and the `motoman_sia10d`...

@thiagodefreitas: any input?

I think this is a serious bug, and am considering adding a warning / notice to the wiki page telling prospective users about it. Thoughts @shaun-edwards ?