diff --git a/crane_plus_moveit_config/config/kinematics.yaml b/crane_plus_moveit_config/config/kinematics.yaml
index d298df2..084a052 100644
--- a/crane_plus_moveit_config/config/kinematics.yaml
+++ b/crane_plus_moveit_config/config/kinematics.yaml
@@ -1,10 +1,5 @@
-# arm:
-#   kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
-#   kinematics_solver_attempts: 10
-#   kinematics_solver_search_resolution: 0.005
-#   kinematics_solver_timeout: 0.005 
 arm:
-  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
+  kinematics_solver_attempts: 10
   kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
+  kinematics_solver_timeout: 0.005