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