From e93f91cbb24c592477fb8c753778563d5e2d65d1 Mon Sep 17 00:00:00 2001
From: Ramy <ramy.yammine@dexai.com>
Date: Mon, 15 Jul 2024 20:27:24 +0000
Subject: [PATCH] add start goal to req

---
 examples/planning/python/requirements.txt | 5 +++++
 proto/planning/builder.proto              | 7 +++++--
 2 files changed, 10 insertions(+), 2 deletions(-)
 create mode 100644 examples/planning/python/requirements.txt

diff --git a/examples/planning/python/requirements.txt b/examples/planning/python/requirements.txt
new file mode 100644
index 0000000..04f74d2
--- /dev/null
+++ b/examples/planning/python/requirements.txt
@@ -0,0 +1,5 @@
+protobuf>=3.19.4
+grpcio>=1.60.0
+grpcio-tools>=1.60.0
+pyyaml>=5.3.1
+click>=8.1.7
diff --git a/proto/planning/builder.proto b/proto/planning/builder.proto
index c2ff71e..fa4d00f 100644
--- a/proto/planning/builder.proto
+++ b/proto/planning/builder.proto
@@ -34,11 +34,14 @@ message StartBuildRequest {
     // Data used to construct a sample-based PRM. The resulting discrete edges
     // will be used to seed the IRIS regions.
     RoadmapData roadmap_data = 5;
+  // start and goal system confs for problem to solve and insert into db 
+  SystemConf start_sysconf = 6;
+  SystemConf goal_sysconf = 7;
   }
 }
 
-// Response which contains the result of attempting to start computation of a
-// solution for the corresponding StartBuildRequest.
+/** Response which contains the result of attempting to start computation of a
+ * solution for the corresponding StartBuildFromConfsRequest. */
 message StartBuildResponse {
   // ID of request. Used to track job status.
   string id = 1;