Turned avoid singularity off by default

Author: marip8

tesseract/tesseract_planning/tesseract_motion_planners/include/tesseract_motion_planners/trajopt/config/trajopt_planner_default_config.h

@@ -111,7 +111,7 @@ struct TrajOptPlannerDefaultConfig : public TrajOptPlannerConfig
   /** @brief This default to all ones, but allows you to weight different joints */
   Eigen::VectorXd jerk_coeff;
   /** @brief If true, applies a cost to avoid kinematic singularities */
-  bool avoid_singularity = true;
+  bool avoid_singularity = false;
   /** @brief Optimization weight associated with kinematic singularity avoidance */
   double avoid_singularity_coeff = 5.0;