diff --git a/stretch_moveit_config/config/ompl_planning.yaml b/stretch_moveit_config/config/ompl_planning.yaml
index d2b037a..e59094e 100644
--- a/stretch_moveit_config/config/ompl_planning.yaml
+++ b/stretch_moveit_config/config/ompl_planning.yaml
@@ -128,7 +128,7 @@ planner_configs:
     dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
     max_failures: 5000  # maximum consecutive failure limit. default: 5000
 stretch_arm:
-  default_planner_config: None
+  default_planner_config: RRTConnect
   planner_configs:
     - AnytimePathShortening
     - SBL
@@ -155,7 +155,7 @@ stretch_arm:
     - SPARS
     - SPARStwo
 stretch_gripper:
-  default_planner_config: ""
+  default_planner_config: RRTConnect
   planner_configs:
     - AnytimePathShortening
     - SBL