diff --git a/docs/examples/03_backends_ros/files/03_forward_kinematics.py b/docs/examples/03_backends_ros/files/03_forward_kinematics.py
index d79716acc..04fff85bc 100644
--- a/docs/examples/03_backends_ros/files/03_forward_kinematics.py
+++ b/docs/examples/03_backends_ros/files/03_forward_kinematics.py
@@ -11,6 +11,8 @@
 
     robot_cell_state = RobotCellState.from_robot_cell(robot_cell)
     robot_cell_state.robot_configuration.joint_values = [-2.238, -1.153, -2.174, 0.185, 0.667, 0.0]
+
+    # When using the forward_kinematics() method with TargetMode.ROBOT, the last link of the robot's main group is used.
     frame_WCF = planner.forward_kinematics(robot_cell_state, TargetMode.ROBOT)
 
     print("Frame in the world coordinate system")
diff --git a/docs/examples/03_backends_ros/files/03_forward_kinematics_with_tools.py b/docs/examples/03_backends_ros/files/03_forward_kinematics_with_tools.py
index 469347aad..ae2d3b87b 100644
--- a/docs/examples/03_backends_ros/files/03_forward_kinematics_with_tools.py
+++ b/docs/examples/03_backends_ros/files/03_forward_kinematics_with_tools.py
@@ -6,13 +6,20 @@
 from compas_fab.backends import MoveItPlanner
 
 with RosClient() as client:
+    planner = MoveItPlanner(client)
+
+    # Loading the robot cell with tool and workpiece from the RobotCellLibrary
     robot_cell, robot_cell_state = RobotCellLibrary.ur5_gripper_one_beam(client)
 
-    planner = MoveItPlanner(client)
+    # Check that the robot in the ROS MoveIt backend is the same as the one in the RobotCellLibrary
+    client.load_robot_cell(False)
+    assert client.robot_cell.root_name == robot_cell.root_name
+
+    # Set the tool and workpiece in the ROS MoveIt backend
     planner.set_robot_cell(robot_cell)
 
+    # Modify the default robot_cell_state to change the robot's configuration and the attachment location of the beam
     robot_cell_state.robot_configuration.joint_values = [-2.238, -1.153, -2.174, 0.185, 0.667, 0.0]
-    # Change the attachment location (grasp) of the beam
     robot_cell_state.rigid_body_states["beam"].attachment_frame = Frame(
         [0.0, 0.0, -0.1], [1.0, 0.0, 0.0], [0.0, 1.0, 0.0]
     )