cpetersmeier

Hello to all, I am working on the `moveit_task_constructor` tutorial. I enjoy the additions that this PR contributes to the demo code and would love to integrate them into the...

Dear @FabianSchuetze , @felixvd , I have created a first draft of an improved Moveit Task Constructor tutorial [here](https://github.com/ros-planning/moveit_tutorials/pull/639). I would love some feedback from you that I could incorporate...