def create_place_goal(self, group, target, places):
goal = PlaceGoal()
goal.group_name = group
goal.target_name = target
goal.possible_grasps.extend(places)
goal.allowed_planning_time = 3.0
goal.planning_options.planning_scene_diff.is_diff = True
goal.planning_options.planning_scene_diff.robot_state.is_diff = True
goal.planning_options.plan_only = False
goal.planning_options.replan = True
goal.planning_options.replan_attempts = 20
return goal
