diff --git a/doc/examples/moveit_cpp/config/moveit_cpp.yaml b/doc/examples/moveit_cpp/config/moveit_cpp.yaml
index ffa333f8a4..8d6915fc56 100644
--- a/doc/examples/moveit_cpp/config/moveit_cpp.yaml
+++ b/doc/examples/moveit_cpp/config/moveit_cpp.yaml
@@ -9,10 +9,11 @@ planning_scene_monitor_options:
 
 planning_pipelines:
   #namespace: "moveit_cpp"  # optional, default is ~
-  pipeline_names: ["ompl"]
+  pipeline_names: ["stomp"]
 
 plan_request_params:
   planning_attempts: 1
-  planning_pipeline: ompl
+  planning_pipeline: stomp
+  planner_id: "stomp"
   max_velocity_scaling_factor: 1.0
   max_acceleration_scaling_factor: 1.0
diff --git a/doc/examples/moveit_cpp/launch/moveit_cpp_tutorial.launch.py b/doc/examples/moveit_cpp/launch/moveit_cpp_tutorial.launch.py
index ecdfa505d9..cb7c96ea43 100644
--- a/doc/examples/moveit_cpp/launch/moveit_cpp_tutorial.launch.py
+++ b/doc/examples/moveit_cpp/launch/moveit_cpp_tutorial.launch.py
@@ -11,6 +11,7 @@ def generate_launch_description():
         MoveItConfigsBuilder("moveit_resources_panda")
         .robot_description(file_path="config/panda.urdf.xacro")
         .trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
+        .planning_pipelines("stomp", ["stomp"])
         .moveit_cpp(
             file_path=get_package_share_directory("moveit2_tutorials")
             + "/config/moveit_cpp.yaml"
diff --git a/doc/how_to_guides/planner_cost_functions/src/planner_cost_functions_main.cpp b/doc/how_to_guides/planner_cost_functions/src/planner_cost_functions_main.cpp
index 828a2b6c90..b01443167d 100644
--- a/doc/how_to_guides/planner_cost_functions/src/planner_cost_functions_main.cpp
+++ b/doc/how_to_guides/planner_cost_functions/src/planner_cost_functions_main.cpp
@@ -270,14 +270,8 @@ int main(int argc, char** argv)
 
   RCLCPP_INFO(LOGGER, "Starting MoveIt Tutorials...");
 
-  // Experiment 1 - Short free-space motion, Pilz is expected to create the fastest and shortest solution
-  RCLCPP_INFO(LOGGER, "Experiment 1 - Short free-space motion");
-
-  demo.setJointGoal(0.0, -0.8144019900299497, 0.0, -2.6488387075338133, 0.0, 1.8344367175038623, 0.7849999829891612);
-  demo.planAndPrint();
-
-  // Experiment 2 - Long motion with collisions, CHOMP and Pilz are likely to fail here due to the difficulty of the planning problem
-  RCLCPP_INFO(LOGGER, "Experiment 2 - Long motion with collisions");
+  // Experiment - Long motion with collisions, CHOMP and Pilz are likely to fail here due to the difficulty of the planning problem
+  RCLCPP_INFO(LOGGER, "Experiment - Long motion with collisions");
   demo.setQueryGoal();
   demo.planAndPrint();