diff --git a/ada_moveit/config/ompl_planning.yaml b/ada_moveit/config/ompl_planning.yaml
index f4cc886..e402927 100644
--- a/ada_moveit/config/ompl_planning.yaml
+++ b/ada_moveit/config/ompl_planning.yaml
@@ -8,6 +8,15 @@ request_adapters: >-
     default_planner_request_adapters/FixWorkspaceBounds
 # Based on Kinova's parameters: https://github.com/Kinovarobotics/kinova-ros/blob/noetic-devel/kinova_moveit/robot_configs/j2n6s300_moveit_config/config/ompl_planning.yaml
 planner_configs:
+  # NOTE: In practice, MoveIt2 hybridizes and shortcuts by default:
+  # https://github.com/moveit/moveit2/blob/e7872ebf92146bb80930ec98cf6c181e8384e99c/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp#L81
+  AnytimePathShortening:
+    type: geometric::AnytimePathShortening
+    shortcut: 1  # Attempt to shortcut all new solution paths
+    hybridize: 1  # Compute hybrid solution trajectories
+    max_hybrid_paths: 8  # Number of hybrid paths generated per iteration
+    num_planners: 4  # The number of default planners to use for planning
+    planners: "RRTConnect[range=0.01]"  # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
   SBLkConfigDefault:
     type: geometric::SBL
     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
@@ -39,7 +48,8 @@ planner_configs:
     goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
   RRTConnectkConfigDefault:
     type: geometric::RRTConnect
-    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    intermediate_states: 0 # Whether to add intermediate states to the plan, default 0
+    range: 0.01  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
   RRTstarkConfigDefault:
     type: geometric::RRTstar
     range: 3.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() (in practice, for ADA, this default is ~7)
@@ -65,6 +75,7 @@ jaco_arm:
   enforce_constrained_state_space: true
   projection_evaluator: joints(j2n6s200_joint_1,j2n6s200_joint_2)
   planner_configs:
+    - AnytimePathShortening
     - SBLkConfigDefault
     - ESTkConfigDefault
     - LBKPIECEkConfigDefault
@@ -77,8 +88,6 @@ jaco_arm:
     - PRMkConfigDefault
     - PRMstarkConfigDefault
 hand:
-  enforce_constrained_state_space: true
-  projection_evaluator: joints(j2n6s200_joint_1,j2n6s200_joint_2)
   planner_configs:
     - SBLkConfigDefault
     - ESTkConfigDefault
diff --git a/ada_moveit/launch/demo.launch.py b/ada_moveit/launch/demo.launch.py
index c0793b2..97608b6 100644
--- a/ada_moveit/launch/demo.launch.py
+++ b/ada_moveit/launch/demo.launch.py
@@ -250,7 +250,9 @@ def generate_launch_description():
             package="controller_manager",
             executable="ros2_control_node",
             parameters=[robot_description, robot_controllers],
-            arguments=["--ros-args", "--log-level", log_level],
+            # Commented out the log-level since the joint state publisher logs every joint read
+            # when on debug level
+            arguments=["--ros-args"],#, "--log-level", log_level],
         )
     )