{"action":"created","comment":{"url":"https://api.github.com/repos/mikeferguson/moveit_python/pulls/comments/206715299","pull_request_review_id":142182701,"id":206715299,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDIwNjcxNTI5OQ==","diff_hunk":"@@ -0,0 +1,50 @@\n+#!/usr/bin/env python\n+\n+# Copyright 2011-2014, Michael Ferguson\n+# All rights reserved.\n+#\n+# Redistribution and use in source and binary forms, with or without\n+# modification, are permitted provided that the following conditions\n+# are met:\n+#\n+#  * Redistributions of source code must retain the above copyright\n+#    notice, this list of conditions and the following disclaimer.\n+#  * Redistributions in binary form must reproduce the above\n+#    copyright notice, this list of conditions and the following\n+#    disclaimer in the documentation and/or other materials provided\n+#    with the distribution.\n+#\n+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS\n+# \"AS IS\" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT\n+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS\n+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE\n+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,\n+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,\n+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;\n+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER\n+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT\n+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN\n+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\n+# POSSIBILITY OF SUCH DAMAGE.\n+\n+import argparse\n+import rospy\n+from moveit_python import PlanningSceneInterface\n+\n+if __name__ == \"__main__\":\n+    parser = argparse.ArgumentParser(\n+        description=\"Remove objects from the MoveIt planning scene.\")\n+    parser.add_argument(\"--name\",\n+                        nargs=\"?\",\n+                        help=\"Name of object to remove\")\n+    args = parser.parse_args()\n+\n+    if args.name:\n+        rospy.init_node(\"add_boxes\")\n+        scene = PlanningSceneInterface(\"/base_link\")\n+        print(\"Adding Box with name: %s\" % args.name)\n+        scene.addBox(args.name, 0.1,0.1,0.1, 3,3,3, 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concur -- also made them executable - 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the code for the `apply` service","user":{"login":"alemme","id":17647526,"node_id":"MDQ6VXNlcjE3NjQ3NTI2","avatar_url":"https://avatars2.githubusercontent.com/u/17647526?v=4","gravatar_id":"","url":"https://api.github.com/users/alemme","html_url":"https://github.com/alemme","followers_url":"https://api.github.com/users/alemme/followers","following_url":"https://api.github.com/users/alemme/following{/other_user}","gists_url":"https://api.github.com/users/alemme/gists{/gist_id}","starred_url":"https://api.github.com/users/alemme/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/alemme/subscriptions","organizations_url":"https://api.github.com/users/alemme/orgs","repos_url":"https://api.github.com/users/alemme/repos","events_url":"https://api.github.com/users/alemme/events{/privacy}","received_events_url":"https://api.github.com/users/alemme/received_events","type":"User","site_admin":false},"body":"More info: 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