diff --git a/engineer_arm_config/config/kinematics.yaml b/engineer_arm_config/config/kinematics.yaml
index a4b51af..b298b37 100644
--- a/engineer_arm_config/config/kinematics.yaml
+++ b/engineer_arm_config/config/kinematics.yaml
@@ -1,4 +1,3 @@
 engineer_arm:
-  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
-  kinematics_solver_search_resolution: 0.005
+  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
   kinematics_solver_timeout: 0.005