diff --git a/doc/bullet_collision_checker/src/bullet_collision_checker_tutorial.cpp b/doc/bullet_collision_checker/src/bullet_collision_checker_tutorial.cpp
index bf50e5566..579b05526 100644
--- a/doc/bullet_collision_checker/src/bullet_collision_checker_tutorial.cpp
+++ b/doc/bullet_collision_checker/src/bullet_collision_checker_tutorial.cpp
@@ -157,7 +157,8 @@ int main(int argc, char** argv)
   {
     // BEGIN_TUTORIAL
     // The code starts with creating an interactive robot and a new planning scene.
-    InteractiveRobot interactive_robot("robot_description", "bullet_collision_tutorial/interactive_robot_state");
+    InteractiveRobot interactive_robot("ready", "robot_description",
+                                       "bullet_collision_tutorial/interactive_robot_state");
     g_planning_scene = std::make_unique<planning_scene::PlanningScene>(interactive_robot.robotModel());
 
     // Changing the collision detector to Bullet
diff --git a/doc/interactivity/include/interactivity/interactive_robot.h b/doc/interactivity/include/interactivity/interactive_robot.h
index d4cd93b1c..5fec746d4 100644
--- a/doc/interactivity/include/interactivity/interactive_robot.h
+++ b/doc/interactivity/include/interactivity/interactive_robot.h
@@ -55,7 +55,7 @@
 class InteractiveRobot
 {
 public:
-  InteractiveRobot(const std::string& robot_description = "robot_description",
+  InteractiveRobot(const std::string& start_pose, const std::string& robot_description = "robot_description",
                    const std::string& robot_topic = "interactive_robot_state",
                    const std::string& marker_topic = "interactive_robot_markers",
                    const std::string& imarker_topic = "interactive_robot_imarkers");
diff --git a/doc/interactivity/src/interactive_robot.cpp b/doc/interactivity/src/interactive_robot.cpp
index 9d38fa5fb..1c69f0900 100644
--- a/doc/interactivity/src/interactive_robot.cpp
+++ b/doc/interactivity/src/interactive_robot.cpp
@@ -50,8 +50,9 @@ const double InteractiveRobot::WORLD_BOX_SIZE_ = 0.15;
 // minimum delay between calls to callback function
 const ros::Duration InteractiveRobot::min_delay_(0.01);
 
-InteractiveRobot::InteractiveRobot(const std::string& robot_description, const std::string& robot_topic,
-                                   const std::string& marker_topic, const std::string& imarker_topic)
+InteractiveRobot::InteractiveRobot(const std::string& start_pose, const std::string& robot_description,
+                                   const std::string& robot_topic, const std::string& marker_topic,
+                                   const std::string& imarker_topic)
   : user_data_(nullptr)
   , nh_()  // this node handle is used to create the publishers
   // create publishers for markers and robot state
@@ -80,10 +81,10 @@ InteractiveRobot::InteractiveRobot(const std::string& robot_description, const s
     ROS_ERROR("Could not get RobotState from Model");
     throw RobotLoadException();
   }
-  robot_state_->setToDefaultValues();
 
   // Prepare to move the "panda_arm" group
   group_ = robot_state_->getJointModelGroup("panda_arm");
+  robot_state_->setToDefaultValues(group_, start_pose);
   std::string end_link = group_->getLinkModelNames().back();
   desired_group_end_link_pose_ = robot_state_->getGlobalLinkTransform(end_link);
 
diff --git a/doc/subframes/src/subframes_tutorial.cpp b/doc/subframes/src/subframes_tutorial.cpp
index 2e7967250..14f260c20 100644
--- a/doc/subframes/src/subframes_tutorial.cpp
+++ b/doc/subframes/src/subframes_tutorial.cpp
@@ -247,6 +247,7 @@ int main(int argc, char** argv)
   att_coll_object.object.id = "cylinder";
   att_coll_object.link_name = "panda_hand";
   att_coll_object.object.operation = att_coll_object.object.ADD;
+  att_coll_object.touch_links = { att_coll_object.link_name };
   ROS_INFO_STREAM("Attaching cylinder to robot.");
   planning_scene_interface.applyAttachedCollisionObject(att_coll_object);
   // END_SUB_TUTORIAL
@@ -319,7 +320,7 @@ int main(int argc, char** argv)
       target_orientation.setRPY(0, 180.0 / 180.0 * M_PI, 90.0 / 180.0 * M_PI);
       target_pose.pose.orientation = tf2::toMsg(target_orientation);
       // To keep some distance to the box, we use a small offset:
-      target_pose.pose.position.z = 0.01;
+      target_pose.pose.position.z = 0.03;
       showFrames(target_pose, "cylinder/tip");
       moveToCartPose(target_pose, group, "cylinder/tip");
       // END_SUB_TUTORIAL
@@ -332,7 +333,7 @@ int main(int argc, char** argv)
       target_pose.header.frame_id = "box/top";
       target_orientation.setRPY(180.0 / 180.0 * M_PI, 0, 90.0 / 180.0 * M_PI);
       target_pose.pose.orientation = tf2::toMsg(target_orientation);
-      target_pose.pose.position.z = 0.01;
+      target_pose.pose.position.z = 0.03;
       showFrames(target_pose, "cylinder/tip");
       moveToCartPose(target_pose, group, "cylinder/tip");
     }
@@ -343,7 +344,7 @@ int main(int argc, char** argv)
       target_pose.header.frame_id = "box/corner_1";
       target_orientation.setRPY(0, 180.0 / 180.0 * M_PI, 90.0 / 180.0 * M_PI);
       target_pose.pose.orientation = tf2::toMsg(target_orientation);
-      target_pose.pose.position.z = 0.01;
+      target_pose.pose.position.z = 0.03;
       showFrames(target_pose, "cylinder/tip");
       moveToCartPose(target_pose, group, "cylinder/tip");
     }
@@ -352,7 +353,7 @@ int main(int argc, char** argv)
       target_pose.header.frame_id = "box/corner_2";
       target_orientation.setRPY(0, 180.0 / 180.0 * M_PI, 90.0 / 180.0 * M_PI);
       target_pose.pose.orientation = tf2::toMsg(target_orientation);
-      target_pose.pose.position.z = 0.01;
+      target_pose.pose.position.z = 0.03;
       showFrames(target_pose, "cylinder/tip");
       moveToCartPose(target_pose, group, "cylinder/tip");
     }
@@ -361,7 +362,7 @@ int main(int argc, char** argv)
       target_pose.header.frame_id = "box/side";
       target_orientation.setRPY(0, 180.0 / 180.0 * M_PI, 90.0 / 180.0 * M_PI);
       target_pose.pose.orientation = tf2::toMsg(target_orientation);
-      target_pose.pose.position.z = 0.01;
+      target_pose.pose.position.z = 0.05;
       showFrames(target_pose, "cylinder/tip");
       moveToCartPose(target_pose, group, "cylinder/tip");
     }
@@ -421,6 +422,7 @@ int main(int argc, char** argv)
       att_coll_object.object.id = "cylinder";
       att_coll_object.link_name = "panda_hand";
       att_coll_object.object.operation = att_coll_object.object.ADD;
+      att_coll_object.touch_links = { att_coll_object.link_name };
       ROS_INFO_STREAM("Attaching cylinder to robot.");
       planning_scene_interface.applyAttachedCollisionObject(att_coll_object);
     }
diff --git a/doc/visualizing_collisions/src/visualizing_collisions_tutorial.cpp b/doc/visualizing_collisions/src/visualizing_collisions_tutorial.cpp
index ed3bf8c52..083133b08 100644
--- a/doc/visualizing_collisions/src/visualizing_collisions_tutorial.cpp
+++ b/doc/visualizing_collisions/src/visualizing_collisions_tutorial.cpp
@@ -170,7 +170,7 @@ int main(int argc, char** argv)
   // object as a wrapper that combines a robot_model with the cube and an interactive marker. We also
   // create a :planning_scene:`PlanningScene` for collision checking. If you haven't already gone through the
   // `planning scene tutorial <../planning_scene/planning_scene_tutorial.html>`_, you go through that first.
-  InteractiveRobot robot;
+  InteractiveRobot robot("ready");
   /* Create a PlanningScene */
   g_planning_scene = new planning_scene::PlanningScene(robot.robotModel());