#!/usr/bin/env python

# Copyright (c) 2017, Elaine Short, SIM Lab
# All rights reserved.
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# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
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# * Redistributions of source code must retain the above copyright notice, this
#   list of conditions and the following disclaimer.
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# * Redistributions in binary form must reproduce the above copyright notice,
#   this list of conditions and the following disclaimer in the documentation
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# * Neither the name of the SIM Lab nor the names of its
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#   this software without specific prior written permission.
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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.,.26), 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))
    
    
