diff --git a/doc/pr2_tutorials/planning/src/doc/motion_planning_api_tutorial.rst b/doc/pr2_tutorials/planning/src/doc/motion_planning_api_tutorial.rst
index 20a651089..1412db12e 100644
--- a/doc/pr2_tutorials/planning/src/doc/motion_planning_api_tutorial.rst
+++ b/doc/pr2_tutorials/planning/src/doc/motion_planning_api_tutorial.rst
@@ -30,9 +30,16 @@ Roslaunch the launch file to run the code directly from moveit_tutorials::
 Expected Output
 ^^^^^^^^^^^^^^^
 
+sdf
 In Rviz, we should be able to see four trajectories being replayed eventually:
 
  1. The robot moves its right arm to the pose goal in front of it,
+|A|
+
  2. The robot moves its right arm to the joint goal to the side,
  3. The robot moves its right arm back to the original pose goal in front of it,
  4. The robot moves its right arm back to a new pose goal while maintaining the end-effector level.
+|B|
+
+.. |A| image:: motion_planning_api_tutorial_robot_move_arm_front.png
+.. |B| image:: motion_planning_api_tutorial_robot_move_right.png
diff --git a/doc/pr2_tutorials/planning/src/doc/motion_planning_api_tutorial_robot_move_arm_front.png b/doc/pr2_tutorials/planning/src/doc/motion_planning_api_tutorial_robot_move_arm_front.png
new file mode 100644
index 000000000..796c5444b
Binary files /dev/null and b/doc/pr2_tutorials/planning/src/doc/motion_planning_api_tutorial_robot_move_arm_front.png differ
diff --git a/doc/pr2_tutorials/planning/src/doc/motion_planning_api_tutorial_robot_move_right.png b/doc/pr2_tutorials/planning/src/doc/motion_planning_api_tutorial_robot_move_right.png
new file mode 100644
index 000000000..d8d6cdd45
Binary files /dev/null and b/doc/pr2_tutorials/planning/src/doc/motion_planning_api_tutorial_robot_move_right.png differ
diff --git a/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.rst b/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.rst
index bae5b6933..0f248c452 100644
--- a/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.rst
+++ b/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.rst
@@ -25,6 +25,13 @@ Roslaunch the launch file to run the code directly from moveit_tutorials::
 
  roslaunch moveit_tutorials move_group_interface_tutorial.launch
 
+After a short moment, the Rviz window should appear:
+
+.. image:: move_group_interface_tutorial_start_screen.png
+
+The *Motion Planning* section in the bottom right part of the window can be closed to get a better view of the robot.
+
+
 Expected Output
 ^^^^^^^^^^^^^^^
 
@@ -35,8 +42,12 @@ In Rviz, we should be able to see the following (there will be a delay of 5-10 s
  3. The robot moves its right arm to the joint goal at its right side.
  4. The robot moves its right arm back to a new pose goal while maintaining the end-effector level.
  5. The robot moves its right arm along the desired cartesian path (a triangle up+forward, left, down+back).
- 6. A box object is added into the environment to the right of the right arm.
+ 6. A box object is added into the environment to the right of the right arm. 
+|B|
+
  7. The robot moves its right arm to the pose goal, avoiding collision with the box.
  8. The object is attached to the wrist (its color will change to purple/orange/green).
  9. The object is detached from the wrist (its color will change back to green).
  10. The object is removed from the environment.
+
+.. |B| image:: ./move_group_interface_tutorial_robot_with_box.png 
diff --git a/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial_robot_with_box.png b/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial_robot_with_box.png
new file mode 100644
index 000000000..172039118
Binary files /dev/null and b/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial_robot_with_box.png differ
diff --git a/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial_start_screen.png b/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial_start_screen.png
new file mode 100644
index 000000000..52ab5b29c
Binary files /dev/null and b/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial_start_screen.png differ