diff --git a/fetch_moveit_config/config/ompl_planning.yaml b/fetch_moveit_config/config/ompl_planning.yaml
index 6910e9f8..9af2709c 100644
--- a/fetch_moveit_config/config/ompl_planning.yaml
+++ b/fetch_moveit_config/config/ompl_planning.yaml
@@ -36,6 +36,7 @@ arm:
     - PRMstarkConfigDefault
   projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint)
   longest_valid_segment_fraction: 0.005
+  enforce_joint_model_state_space: true
 arm_with_torso:
   planner_configs:
     - SBLkConfigDefault
@@ -51,6 +52,7 @@ arm_with_torso:
     - PRMstarkConfigDefault
   projection_evaluator: joints(torso_lift_joint,shoulder_pan_joint)
   longest_valid_segment_fraction: 0.05
+  enforce_joint_model_state_space: true
 gripper:
   planner_configs:
     - SBLkConfigDefault