#!/usr/bin/env python

# Copyright 2011-2014, Michael Ferguson
# 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.
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# 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
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import rospy
from moveit_python import PlanningSceneInterface

if __name__ == "__main__":
    rospy.init_node("list_objects")
    scene = PlanningSceneInterface("base_link")
    for name in scene.getKnownCollisionObjects():
        print(name)
    for name in scene.getKnownAttachedObjects():
        print(name)
    if len(scene.getKnownCollisionObjects() + scene.getKnownAttachedObjects()) == 0:
        print("No objects in planning scene.")

