old_contents: #!/usr/bin/env python
  
  # Copyright (c) 2017, Elaine Short, SIM Lab
  # All rights reserved.
  # 
  # Redistribution and use in source and binary forms, with or without
  # modification, are permitted provided that the following conditions are met:
  # 
  # * Redistributions of source code must retain the above copyright notice, this
  #   list of conditions and the following disclaimer.
  # 
  # * Redistributions in binary form must reproduce the above copyright notice,
  #   this list of conditions and the following disclaimer in the documentation
  #   and/or other materials provided with the distribution.
  # 
  # * Neither the name of the SIM Lab nor the names of its
  #   contributors may be used to endorse or promote products derived from
  #   this software without specific prior written permission.
  # 
  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  # DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  # FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  # DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  # SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  # OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  
  import rospy
  from planning_scene_helper import PlanningSceneHelper
  
  if __name__=="__main__":
      rospy.init_node("planning_scene_setup")
      p = PlanningSceneHelper()
  
      p.remove("table")
  
      p.remove("torso")
      p.remove("head")
      p.remove("base")
      
      p.remove("left")
      p.remove("right")
      p.remove("back")
      
      p.add_box("base", "base_link", size=(.9,.6,.5), position=(0.,0.,.25), color=(0,0,1.,0.3))
      p.add_box("torso", "base_link", size=(.23,.3,.5), position=(0.,0.,.5+.25), color=(0,0,1.,0.3))
      p.add_sphere("head", "base_link", size=(.22,.2,.2), position=(0.,0.,1+.1), color=(0,0,1.,0.3))
      
      # p.add_box("table", "base_link", size=(1.5,1.5,.58), position=(1.,0.,.3), color=(0,0,1.,1.))
  
      p.add_box("left", "base_link", size=(2,.3,3.0), position=(1.,-1,1.5), color=(0,0,1.,0.4))
      p.add_box("right", "base_link", size=(2,.3,3.0), position=(1.,1,1.5), color=(0,0,1.,0.4))
      # p.add_box("back", "base_link", size=(.3,2.,3.0), position=(-.15,0.,1.5), color=(0,0,1.,0.4))
      
      
  
new_contents: #!/usr/bin/env python
  
  # Copyright (c) 2017, Elaine Short, SIM Lab
  # All rights reserved.
  # 
  # Redistribution and use in source and binary forms, with or without
  # modification, are permitted provided that the following conditions are met:
  # 
  # * Redistributions of source code must retain the above copyright notice, this
  #   list of conditions and the following disclaimer.
  # 
  # * Redistributions in binary form must reproduce the above copyright notice,
  #   this list of conditions and the following disclaimer in the documentation
  #   and/or other materials provided with the distribution.
  # 
  # * Neither the name of the SIM Lab nor the names of its
  #   contributors may be used to endorse or promote products derived from
  #   this software without specific prior written permission.
  # 
  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  # DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  # FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  # DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  # SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  # OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  
  import rospy
  from planning_scene_helper import PlanningSceneHelper
  
  if __name__=="__main__":
      rospy.init_node("planning_scene_setup")
      p = PlanningSceneHelper()
  
      p.remove("table")
  
      p.remove("torso")
      p.remove("head")
      p.remove("base")
      
      p.remove("left")
      p.remove("right")
      p.remove("back")
      
      p.add_box("base", "base_link", size=(.9,.6,.5), position=(0.,0.,.25), color=(0,0,1.,0.3))
      p.add_box("torso", "base_link", size=(.23,.3,.5), position=(0.,0.,.5+.25), color=(0,0,1.,0.3))
      p.add_sphere("head", "base_link", size=(.22,.2,.2), position=(0.,0.,1+.15), color=(0,0,1.,0.3))
      
      # p.add_box("table", "base_link", size=(1.5,1.5,.58), position=(1.,0.,.3), color=(0,0,1.,1.))
  
      p.add_box("left", "base_link", size=(2,.3,3.0), position=(1.,-1,1.5), color=(0,0,1.,0.4))
      p.add_box("right", "base_link", size=(2,.3,3.0), position=(1.,1,1.5), color=(0,0,1.,0.4))
      # p.add_box("back", "base_link", size=(.3,2.,3.0), position=(-.15,0.,1.5), color=(0,0,1.,0.4))
      
      
  
subject: Move Moe head collision object upwards