diff --git a/libraries/YarpPlugins/AmorCartesianControl/DeviceDriverImpl.cpp b/libraries/YarpPlugins/AmorCartesianControl/DeviceDriverImpl.cpp
index 45c16ef..5c4d6b1 100644
--- a/libraries/YarpPlugins/AmorCartesianControl/DeviceDriverImpl.cpp
+++ b/libraries/YarpPlugins/AmorCartesianControl/DeviceDriverImpl.cpp
@@ -112,6 +112,7 @@ bool AmorCartesianControl::open(yarp::os::Searchable& config)
     cartesianDeviceOptions.put("device", solverStr);
     cartesianDeviceOptions.put("mins", yarp::os::Value::makeList(qMin.toString().c_str()));
     cartesianDeviceOptions.put("maxs", yarp::os::Value::makeList(qMax.toString().c_str()));
+    cartesianDeviceOptions.put("ikPos", yarp::os::Value("nrjl"));
     cartesianDeviceOptions.setMonitor(config.getMonitor(), solverStr.c_str());
 
     if (!cartesianDevice.open(cartesianDeviceOptions))