adding some comments for the initial draft

source/armarx/view_selection/skills/LookForObjectWithKinematicUnit.cpp

@@ -67,7 +67,7 @@ namespace armarx::view_selection::skills
     LookForObjectWithKinematicUnit::speak(const std::string& text)
     {
         ARMARX_INFO << "Saying '" << text.substr(0, 50) << "...'";
-        srv_->textToSpeech->reportText("Hey Nagi");
+        srv_->textToSpeech->reportText(text);
     }
 
     ::armarx::skills::Skill::MainResult
@@ -98,15 +98,19 @@ namespace armarx::view_selection::skills
 
 
 
-
+        // doing the neck movement routine
+        // move neck to start position
         setNeckJointAngles(0.0, 0.2, 10);
+        //  move the neck to the max right
         setNeckJointAngles(-0.593412, 0.7609636, 10);
+        //  move the neck to the max left
         setNeckJointAngles(0.593412, 0.7609636, 20);
+        // move the neck back to the normal
         setNeckJointAngles(0.0, 0.2, 10);
 
-
+        // getting the 
         objpose::ObjectPoseSeq objectPoses = srv_->objectPoseClient.fetchObjectPoses();
-
+        // these objects are always in the memory so, we need to not consider them for what can u see now scenario
         armarx::ObjectID objectId;
         std::vector<std::string> predefined_poses = {"r003-door", "r003-pillar", "clean-box", "dirty-box", "beam", "hund-table-120x80",
                                                  "hund-table-180x60", "hund-table-180x80", "hund-table-200x80", "mobile-dishwasher",
@@ -125,16 +129,18 @@ namespace armarx::view_selection::skills
             }
         }
 
-        
-
-        // srv_->kinematicUnit->setJointAngles({
-        //     {"Neck_1_Yaw", -0.593412}, {"Neck_2_Pitch", 0.2}});
-        // std::this_thread::sleep_for(std::chrono::seconds(2));
-        //setJointAngles();
+        for (int i = 0; i < objects_names.size(); i++) {
+            if (i == 0) {
+                speak("I can see the following objects");
+                armarx::Clock::WaitFor(armarx::Duration::MilliSeconds(10));
+            } else if (i == (objects_names.size() - 1)) {
+                speak("and");
+                armarx::Clock::WaitFor(armarx::Duration::MilliSeconds(10));
+            }
+            speak(objects_names[i]);
+            armarx::Clock::WaitFor(armarx::Duration::MilliSeconds(10));
+        }
 
-        // srv_->kinematicUnit->setJointAngles({
-        //     {"Neck_1_Yaw", 0.0}, {"Neck_2_Pitch", 0.2}});
-        //setJointAngles();
         
         return ::armarx::skills::Skill::MainResult{
             .status = ::armarx::skills::TerminatedSkillStatus::Succeeded};