def METHOD_NAME(self, coll_pos=(0.4, 0.1, 0.25), attached_pos=(0.0, 0.0, 0.15)):
    # Add obstacle to the world
    ps = PoseStamped()
    ps.header.frame_id = "world"
    ps.pose.position = Point(*coll_pos)
    ps.pose.orientation.w = 1.0
    self.planning_scene_interface.add_box(
        name="box1", pose=ps, size=(0.1, 0.1, 0.5)
    )
    # Attach object to robot's TCP
    ps = PoseStamped()
    ps.header.frame_id = self.tcp_link
    ps.pose.position = Point(*attached_pos)
    ps.pose.orientation.w = 1.0
    self.planning_scene_interface.attach_box(
        link=self.tcp_link,
        name="box2",
        pose=ps,
        size=(0.1, 0.1, 0.1),
        touch_links=["panda_rightfinger", "panda_leftfinger"],
    )