diff --git a/rbs_mill_assist/launch/moveit.launch.py b/rbs_mill_assist/launch/moveit.launch.py
index e17250b..af05a6a 100644
--- a/rbs_mill_assist/launch/moveit.launch.py
+++ b/rbs_mill_assist/launch/moveit.launch.py
@@ -96,7 +96,7 @@ def launch_setup(context, *args, **kwargs):
         .pilz_cartesian_limits("moveit/pilz_cartesian_limits.yaml")
         .robot_description_kinematics("moveit/kinematics.yaml")
         .robot_description_semantic("srdf/rbs_arm.srdf", mappings={})
-        .planning_pipelines(pipelines=["ompl", "chomp", "stomp"], default_planning_pipeline="ompl")
+        .planning_pipelines(pipelines=["ompl", "stomp"], default_planning_pipeline="stomp")
         .to_moveit_configs()
     )