diff --git a/src/hangar_sim/config/moveit/pose_ik_distance.yaml b/src/hangar_sim/config/moveit/pose_ik_distance.yaml
index 1ad041046..bdb4353fd 100644
--- a/src/hangar_sim/config/moveit/pose_ik_distance.yaml
+++ b/src/hangar_sim/config/moveit/pose_ik_distance.yaml
@@ -3,6 +3,11 @@ manipulator:
   target_tolerance: 0.001
   solve_mode: "optimize_distance"
   optimization_timeout: 0.005
+  # Issue #19973: weight the redundant mobile-base yaw heavily in the seed-distance cost so the IK resolves the
+  # redundancy toward keeping the base heading near its current value, instead of letting it drift a full revolution
+  # across consecutive picks. Base translation stays unweighted (free) so the arm can still reach boxes.
+  seed_distance_joint_names: ["rotational_yaw_joint"]
+  seed_distance_joint_weights: [10.0]
 
 arm_only:
   kinematics_solver: pose_ik_plugin/PoseIKPlugin
diff --git a/src/hangar_sim/objectives/move_boxes_to_loading_zone_from_waypoint.xml b/src/hangar_sim/objectives/move_boxes_to_loading_zone_from_waypoint.xml
index a6545ba69..a65c39f2b 100644
--- a/src/hangar_sim/objectives/move_boxes_to_loading_zone_from_waypoint.xml
+++ b/src/hangar_sim/objectives/move_boxes_to_loading_zone_from_waypoint.xml
@@ -260,7 +260,9 @@
                       end_effector_link="grasp_link"
                       ik_group="manipulator"
                       ik_timeout_s="0.01"
-                      max_ik_solutions="1"
+                      max_ik_solutions="8"
+                      cost_joint_names="rotational_yaw_joint"
+                      cost_joint_weights="50.0"
                       monitored_stage="allow collision (gripper, <octomap>)"
                       target_poses="{grasp_poses}"
                       task="{task}"