adds a small introduction on the readme

README.md

@@ -1,11 +1,16 @@
 # Experimental MoveIt 2 - Drake Integration
 
-Under construction
+`moveit_drake` brings together the vertical ROS integration of the
+[MoveIt2](https://moveit.ai/) motion planning framework, with the Mathematical
+Programming interface within [drake](https://drake.mit.edu/). This allows the
+user to setup motion planning as an optimization problem within ROS, with the
+rich specification of constraints and costs provided by `drake`.
 
 ## Docker Workflow (Preferred and tested)
 
 ### Requirements
-`docker` and `docker-compose` - Follow instructions [here](https://docs.docker.com/engine/install/ubuntu/).
+`docker` and `docker-compose` - Follow instructions
+[here](https://docs.docker.com/engine/install/ubuntu/).
 
 ### Steps
 The following steps clone and build the base image that you will require to
@@ -33,7 +38,9 @@ Follow [instructions](#build-moveit_drake) below to build `moveit_drake`
 
 ### Build `moveit_drake`
 
-Follow the [MoveIt Source Build](https://moveit.ros.org/install-moveit2/source/) instructions to set up a colcon workspace with MoveIt from source.
+Follow the [MoveIt Source
+Build](https://moveit.ros.org/install-moveit2/source/) instructions to set up a
+colcon workspace with MoveIt from source.
 
 Open a command line to your colcon workspace:
 
@@ -58,28 +65,8 @@ ros2 launch moveit_drake pipeline_testbench.launch.py
 
 ### Development
 
-- Use [pre-commit to format your code](https://moveit.ros.org/documentation/contributing/code/#pre-commit-formatting-checks)
-
-# Todo section
-
-This section keeps a list of immediate todos, will be deleted before repo release
-
-- [x] Create drake planning pipeline option in `pipeline_testbench.launch.py`
-- [x] Declare to moveit, to use the drake ktopt planning pipeline
-- [ ] Build planner manager and planning context to display info from `moveit`
-  and `drake` instance.
-    - [ ] Generated placeholder classes mimicking `stomp` implementation.
-    - [ ] Display info messages during testbench runtime.
-    - [ ]
-- [ ] read Robot description and display onto drake visualizer
-
-### Doubts
-- [x] stomp_moveit::ParamListener, where is this being declared
-- [ ] Why is the parameter file in the "res" directory
-
-### Potential issues
-- Assumes that planner managers initialize will set robot description before a
-  call to getPlanningContext.
+- Use [pre-commit to format your
+  code](https://moveit.ros.org/documentation/contributing/code/#pre-commit-formatting-checks)
 
 ### Some helper commands
 To just rebuild `moveit_drake`

src/ktopt_planning_context.cpp

@@ -181,9 +181,6 @@ void KTOptPlanningContext::setRobotDescription(std::string robot_description)
   // TODO:(kamiradi) Figure out object parsing
   // auto robot_instance = Parser(plant_, scene_graph_).AddModelsFromString(robot_description_, ".urdf");
 
-  // HACK: For now loading directly from drake's package map
-  // const char* ModelUrl = "package://drake_models/franka_description/"
-  //                        "urdf/panda_arm_hand.urdf";
   const char* ModelUrl = params_.drake_robot_description.c_str();
   const std::string urdf = PackageMap{}.ResolveUrl(ModelUrl);
   auto robot_instance = Parser(&plant, &scene_graph).AddModels(urdf);