Python bindings for move_group_interface

[m-elwin]

Is your feature request related to a problem? Please describe.
Are there any plans for adding python bindings for the move_group_interface from C++ (e.g. something equivalent to the Move Group Python Interface in ROS 1)?

The moveit_py API seems to only wrap the direct C++ API and does not seem to wrap moveit::planning_interface::MoveGroupInterface.

Describe the solution you'd like
A python API for communicating with a move_group node similar to the Move Group Python Interface in ROS 1 (and probably wrapping moveit::planning_interface::MoveGroupInterface.

It would allow for a python tutorial that parallels Your First C++ MoveIt Project

Describe alternatives you've considered
Using existing moveit_py functionality seems to cover most use cases. However, if an existing robot package provides a launchfile that sets up a move_group node with acceptable parameters, being able to use a MoveGroupInterface directly from python seems like it could provide an easier experience than needing to use C++ or needing to setup those parameters again.

Additional context

1. It seems like there was some initial work in moveit_ros/planning_interface toward making python bindings, but its currently commented out.
2. Would the work on these bindings be most appropriate in moveit_ros/planning_interface or as additions to moveit_py? I am willing to help work on this if it makes sense as a feature.

[JaisonJose241]

I see some scripts showing examples in moveit tutorial repo, but can't find where the bindings or required libraries are>

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[m-elwin]

I have begun to address this issue with PR #2574

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[github-actions]

This issue was closed because it has been stalled for 45 days with no activity.