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[moveit_py] add getMotionPlanRequest in planning_component #2463

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1 change: 1 addition & 0 deletions moveit_py/moveit/planning.pyi
Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@ class PlanningComponent:
def set_start_state_to_current_state(self, *args, **kwargs) -> Any: ...
def set_workspace(self, *args, **kwargs) -> Any: ...
def unset_workspace(self, *args, **kwargs) -> Any: ...
def get_motion_plan_request(self, *args, **kwargs) -> Any: ...
@property
def named_target_states(self) -> Any: ...
@property
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Original file line number Diff line number Diff line change
Expand Up @@ -358,6 +358,11 @@ void init_planning_component(py::module& m)
.def("unset_workspace", &moveit_cpp::PlanningComponent::unsetWorkspace,
R"(
Remove the workspace bounding box from planning.
)")
.def("get_motion_plan_request", &moveit_cpp::PlanningComponent::getMotionPlanRequest,
py::arg("plan_request_parameters"),
R"(
Get a MotionPlanRequest message for current planning request.
)");
}
} // namespace bind_planning_component
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