parameters: (self, group, target, places)
return_statement: return goal
docstring: Create a MoveIt! PlaceGoal
docstring_summary: Create a MoveIt! PlaceGoal
docstring_tokens: Create a MoveIt! PlaceGoal
function: def _create_place_goal(self, group, target, places):
          """
          Create a MoveIt! PlaceGoal
          """
  
          # Create goal:
          goal = PlaceGoal()
  
          goal.group_name           = group
          goal.attached_object_name = target
  
          goal.place_locations.extend(places)
  
          # Configure goal planning options:
          goal.allowed_planning_time = 7.0
  
          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
function_tokens: def _create_place_goal ( self , group , target , places ) : # Create goal: goal = PlaceGoal ( ) goal . group_name = group goal . attached_object_name = target goal . place_locations . extend ( places ) # Configure goal planning options: goal . allowed_planning_time = 7.0 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