diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst b/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst
index 62d34a0dfe..c98518f52a 100644
--- a/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst
+++ b/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst
@@ -670,9 +670,9 @@ This next block of code creates a ``SerialContainer``. This is a container that
 
       {
         auto grasp = std::make_unique<mtc::SerialContainer>("pick object");
-        task.properties().exposeTo(grasp->properties(), { "eef", "hand", "group", "ik_frame" });
+        task.properties().exposeTo(grasp->properties(), { "eef", "group", "ik_frame" });
         grasp->properties().configureInitFrom(mtc::Stage::PARENT,
-                                              { "eef", "hand", "group", "ik_frame" });
+                                              { "eef", "group", "ik_frame" });
 
 
 
@@ -827,9 +827,9 @@ We also create a serial container for the place stages. This is done similarly t
 
       {
         auto place = std::make_unique<mtc::SerialContainer>("place object");
-        task.properties().exposeTo(place->properties(), { "eef", "hand", "group", "ik_frame" });
+        task.properties().exposeTo(place->properties(), { "eef", "group", "ik_frame" });
         place->properties().configureInitFrom(mtc::Stage::PARENT,
-                                              { "eef", "hand", "group", "ik_frame" });
+                                              { "eef", "group", "ik_frame" });
 
 This next stage generates the poses used to place the object and compute the inverse kinematics for those poses - it is somewhat similar to the ``generate grasp pose`` stage from the pick serial container. We start by creating a stage to generate the poses and inheriting the task properties. We specify the pose where we want to place the object with a ``PoseStamped`` message from ``geometry_msgs`` - in this case, we choose ``y = 0.5``. We then pass the target pose to the stage with ``setPose``.  Next, we use ``setMonitoredStage`` and pass it the pointer to the ``attach object stage`` from earlier. This allows the stage to know how the object is attached. We then create a ``ComputeIK`` stage and pass it our ``GeneratePlacePose`` stage - the rest follows the same logic as above with the pick stages.
 
diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/main.cpp b/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/main.cpp
index 1cc5101a4b..95d542bb85 100644
--- a/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/main.cpp
+++ b/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/main.cpp
@@ -149,10 +149,10 @@ mtc::Task MTCTaskNode::createTask()
   // In fact, `task` itself is a SerialContainer by default.
   {
     auto grasp = std::make_unique<mtc::SerialContainer>("pick object");
-    task.properties().exposeTo(grasp->properties(), { "eef", "hand", "group", "ik_frame" });
+    task.properties().exposeTo(grasp->properties(), { "eef", "group", "ik_frame" });
     // clang-format off
     grasp->properties().configureInitFrom(mtc::Stage::PARENT,
-                                          { "eef", "hand", "group", "ik_frame" });
+                                          { "eef", "group", "ik_frame" });
     // clang-format on
 
     {
@@ -268,10 +268,10 @@ mtc::Task MTCTaskNode::createTask()
 
   {
     auto place = std::make_unique<mtc::SerialContainer>("place object");
-    task.properties().exposeTo(place->properties(), { "eef", "hand", "group", "ik_frame" });
+    task.properties().exposeTo(place->properties(), { "eef", "group", "ik_frame" });
     // clang-format off
     place->properties().configureInitFrom(mtc::Stage::PARENT,
-                                          { "eef", "hand", "group", "ik_frame" });
+                                          { "eef", "group", "ik_frame" });
     // clang-format on
 
     /****************************************************