diff --git a/ur10_moveit_config/config/kinematics.yaml b/ur10_moveit_config/config/kinematics.yaml index 0ee1e5af01cbe20c2991f329208a723816cc2da6..c45b66490d2680c49880ae741d6378b9bdbd2562 100644 --- a/ur10_moveit_config/config/kinematics.yaml +++ b/ur10_moveit_config/config/kinematics.yaml @@ -1,10 +1,11 @@ -manipulator: - kinematics_solver: ur_kinematics/UR10KinematicsPlugin - kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 - kinematics_solver_attempts: 3 +## the UR10KinematicsPlugin only works with the unlimited UR10, i.e. limited:=false #manipulator: -# kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin +# kinematics_solver: ur_kinematics/UR10KinematicsPlugin # kinematics_solver_search_resolution: 0.005 # kinematics_solver_timeout: 0.005 -# kinematics_solver_attempts: 3 \ No newline at end of file +# kinematics_solver_attempts: 3 +manipulator: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 \ No newline at end of file