diff --git a/stretch_moveit_config/launch/moveit.rviz b/stretch_moveit_config/launch/moveit.rviz
index e9b1294..be3ffcf 100644
--- a/stretch_moveit_config/launch/moveit.rviz
+++ b/stretch_moveit_config/launch/moveit.rviz
@@ -43,7 +43,7 @@ Visualization Manager:
       Class: moveit_rviz_plugin/MotionPlanning
       Enabled: true
       Move Group Namespace: ""
-      MoveIt_Allow_Approximate_IK: false
+      MoveIt_Allow_Approximate_IK: true
       MoveIt_Allow_External_Program: false
       MoveIt_Allow_Replanning: false
       MoveIt_Allow_Sensor_Positioning: false