diff --git a/crane_x7_moveit_config/config/crane_x7.srdf b/crane_x7_moveit_config/config/crane_x7.srdf
index 12d3fc34..0e04485d 100644
--- a/crane_x7_moveit_config/config/crane_x7.srdf
+++ b/crane_x7_moveit_config/config/crane_x7.srdf
@@ -40,7 +40,6 @@
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
     <end_effector name="end_effector" parent_link="crane_x7_gripper_base_link" group="gripper" />
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
-    <virtual_joint name="table" type="fixed" parent_frame="world" child_link="base_link" />
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
     <disable_collisions link1="crane_x7_gripper_base_link" link2="crane_x7_gripper_finger_a_link" reason="Adjacent" />
     <disable_collisions link1="crane_x7_gripper_base_link" link2="crane_x7_gripper_finger_b_link" reason="Adjacent" />
diff --git a/crane_x7_moveit_config/config/kinematics.yaml b/crane_x7_moveit_config/config/kinematics.yaml
index a1f17d08..46a23863 100644
--- a/crane_x7_moveit_config/config/kinematics.yaml
+++ b/crane_x7_moveit_config/config/kinematics.yaml
@@ -2,4 +2,3 @@ arm:
   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