From 3e0407b4fb5d0621bb54350e1ab7fdad52f56e3f Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Tue, 21 Oct 2014 12:16:39 +0000
Subject: [PATCH] make KDLKinematicsPlugin default again

---
 ur10_moveit_config/config/kinematics.yaml | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/ur10_moveit_config/config/kinematics.yaml b/ur10_moveit_config/config/kinematics.yaml
index 0ee1e5a..c45b664 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
-- 
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