From 2bf3e23612b029d74d2692f3a2f70135f0261717 Mon Sep 17 00:00:00 2001
From: lost-robot <36088836+lost-robot@users.noreply.github.com>
Date: Thu, 20 Oct 2022 09:18:57 -0600
Subject: [PATCH] Update pick_and_place_with_moveit_task_constructor.rst (#532)

The property 'hand' was not set in the example code.  The demo runs as expected once the proposed changes are made to the code.
---
 .../pick_and_place_with_moveit_task_constructor.rst       | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst b/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst
index 805a90bda6..200eef3032 100644
--- a/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst
+++ b/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst
@@ -609,9 +609,9 @@ This next block of code creates a ``SerialContainer``. This is a container that
 
       {
         auto grasp = std::make_unique<mtc::SerialContainer>("pick object");
-        task.properties().exposeTo(grasp->properties(), { "eef", "hand", "group", "ik_frame" });
+        task.properties().exposeTo(grasp->properties(), { "eef", "group", "ik_frame" });
         grasp->properties().configureInitFrom(mtc::Stage::PARENT,
-                                              { "eef", "hand", "group", "ik_frame" });
+                                              { "eef", "group", "ik_frame" });
 
 
 
@@ -766,9 +766,9 @@ We also create a serial container for the place stages. This is done similarly t
 
       {
         auto place = std::make_unique<mtc::SerialContainer>("place object");
-        task.properties().exposeTo(place->properties(), { "eef", "hand", "group", "ik_frame" });
+        task.properties().exposeTo(place->properties(), { "eef", "group", "ik_frame" });
         place->properties().configureInitFrom(mtc::Stage::PARENT,
-                                              { "eef", "hand", "group", "ik_frame" });
+                                              { "eef", "group", "ik_frame" });
 
 This next stage generates the poses used to place the object and compute the inverse kinematics for those poses - it is somewhat similar to the ``generate grasp pose`` stage from the pick serial container. We start by creating a stage to generate the poses and inheriting the task properties. We specify the pose where we want to place the object with a ``PoseStamped`` message from ``geometry_msgs`` - in this case, we choose ``y = 0.5``. We then pass the target pose to the stage with ``setPose``.  Next, we use ``setMonitoredStage`` and pass it the pointer to the ``attach object stage`` from earlier. This allows the stage to know how the object is attached. We then create a ``ComputeIK`` stage and pass it our ``GeneratePlacePose`` stage - the rest follows the same logic as above with the pick stages.