Add four screen shots for illustration purposes

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

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