Does trac_ik support approximate solutions?

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Does trac_ik support approximate solutions? I swapped the kinematics_solver to trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin.

For setting a target pose i use the moveit_commander python API: set_joint_value_target

(http://docs.ros.org/jade/api/moveit_c...)

Unfortunately I get the following error message:

MoveItCommanderException: Error setting joint target. Does your IK solver support approximate IK?

With the default IK this works. Also I am very limited in the Move_It Plugin of RVIZ with this IK.