def setup_scene():
scene = PlanningSceneInterface('base_link')
scene.removeCollisionObject('box')
scene.addCube('box', 0.25, -0.45, 0.1, 0.125)
pick_place = PickPlaceInterface('xarm5', 'gripper', verbose=True)
grasp = Grasp()
# fill in g
# setup object named object_name using PlanningSceneInterface
pick_place.pickup('box', [grasp], support_name='supporting_surface')
place_loc = PlaceLocation()
# fill in l
pick_place.place('box'[place_loc],
goal_is_eef=True,
support_name='supporting_surface')
