How to use get_planning_pipeline_id?

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You need to set both the planning_pipeline_id and the planner_id. You can easily check the available pipelines and the planners of each pipeline in the RViz Motion Planning plugin, in the Context tab.

Example Python code:

group = moveit_commander.MoveGroupCommander("your_planning_group")
group.set_planning_pipeline_id("pilz_industrial_motion_planner")
group.set_planner_id("LIN")
[...]
group.set_pose_target(your_pose)
group.go()

If only one pipeline is available, you should regenerate your moveit_config package.