diff --git a/doc/examples/moveit_cpp/config/moveit_cpp.yaml b/doc/examples/moveit_cpp/config/moveit_cpp.yaml
index 0dbd6f88ee..6a0179cd02 100644
--- a/doc/examples/moveit_cpp/config/moveit_cpp.yaml
+++ b/doc/examples/moveit_cpp/config/moveit_cpp.yaml
@@ -10,7 +10,29 @@ planning_scene_monitor_options:
 planning_pipelines:
   #namespace: "moveit_cpp"  # optional, default is ~
   pipeline_names: ["ompl"]
-
+ompl:
+  planning_plugin: ompl_interface/OMPLPlanner
+  planning_plugins:
+    - ompl_interface/OMPLPlanner
+  # To optionally use Ruckig for jerk-limited smoothing, add this line to the request adapters below
+  # default_planning_request_adapters/AddRuckigTrajectorySmoothing
+  request_adapters:
+    - default_planning_request_adapters/ResolveConstraintFrames
+    - default_planning_request_adapters/ValidateWorkspaceBounds
+    - default_planning_request_adapters/CheckStartStateBounds
+    - default_planning_request_adapters/CheckStartStateCollision
+  response_adapters:
+    - default_planning_response_adapters/AddTimeOptimalParameterization
+    - default_planning_response_adapters/ValidateSolution
+    - default_planning_response_adapters/DisplayMotionPath
+  planner_configs:
+    PRMstarkConfigDefault:
+      type: geometric::PRMstar
+  # Define planner(s) for each move_group
+  panda_arm:
+    planner_configs:
+      - PRMstarkConfigDefault
+  # Add additional planning pipeline config here
 plan_request_params:
   planning_attempts: 1
   planning_pipeline: ompl