documenting instructions for the pick-and-place task

[FabianSchuetze]

This PR attempts to embellish the pick-place demo by adding comments to several sections of the task construction.

I have been trying to understand the pick-place demo in the last few days and had benefited from a bit more verbose description. In particular, I did not comprehend how the grasp_frame_transform, specified in the panda config file, influence the outcome. I asked the same question on ros anwers but failed to garner an answer. @felixvd encouraged me via Discord to try to understand it myself and submit a PR with code comments.

I do not know if my comments are helpful or whether the PR has the appropriate structure. If there is anything you think I can improve, I'd happily do that.

[codecov[bot]]

Codecov Report

Merging #238 (c9f3c9f) into master (a6fa452) will not change coverage. The diff coverage is n/a.

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[FabianSchuetze]

Thank you so much, @felixvd for your detailed and very thoughtful comments to the PR. Your suggestions help me to improve the PR an I will update the it accordingly!

[FabianSchuetze]

Thank you again for your detailed and kind comments! I benefited a lot from them and hope the changed PR reflects this. I shortened the explanations and believe the text is more precise and succinct. I am curious to hear what you think of it and appreciate any feedback. Furthermore, should we maybe integrate these comments in a full tutorial for the moveit website as the current MTC tutorial is a bit short?

[felixvd]

Oh, and yes, an actual MTC tutorial page based on this example is certainly welcome. AFAIK there's no reason that it doesn't exist yet, except that no one has the time to write it. It would probably fit best on the current page.

[FabianSchuetze]

Thank you very much indeed, Felix, for your comments and your help. Your assistance made the PR much better and working on it very enjoyable. I will try to find a new moveit issue to work on (a good first issue) and hope to contribute!

[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 tutorial!

I think moving / duplicating the demo into the moveit_tutorials package was already touched on here. Would you suggest to pick the text / code bits manually from the demo files in this repository?

[FabianSchuetze]

Hi @cpetersmeier - it is great to hear you are working on a tutorial for the MTC! I do not understand what you mean by saying:

Would you suggest to pick the text / code bits manually from the demo files in this repository?

However, if I were you, I would try to write a tutorial and select all the parts that you need for it as you see it fit. Please ping me if you have a PR ready - I am excited to read it!

[cpetersmeier]

Dear @FabianSchuetze , @felixvd ,

I have created a first draft of an improved Moveit Task Constructor tutorial here. I would love some feedback from you that I could incorporate in the text!