diff --git a/moveit_py/moveit/planning.pyi b/moveit_py/moveit/planning.pyi
index 45410effd3..c2516b2a7b 100644
--- a/moveit_py/moveit/planning.pyi
+++ b/moveit_py/moveit/planning.pyi
@@ -57,6 +57,7 @@ class PlanningSceneMonitor:
     def start_state_monitor(self, *args, **kwargs) -> Any: ...
     def stop_scene_monitor(self, *args, **kwargs) -> Any: ...
     def stop_state_monitor(self, *args, **kwargs) -> Any: ...
+    def update_frame_transforms(self, *args, **kwargs) -> Any: ...
     def wait_for_current_robot_state(self, *args, **kwargs) -> Any: ...
     @property
     def name(self) -> Any: ...
diff --git a/moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp b/moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp
index f5487cc68d..9682fd6cf0 100644
--- a/moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp
+++ b/moveit_py/src/moveit/moveit_ros/planning_scene_monitor/planning_scene_monitor.cpp
@@ -91,6 +91,15 @@ void initPlanningSceneMonitor(py::module& m)
                     str: The name of this planning scene monitor.
                     )")
 
+      .def("update_frame_transforms", &planning_scene_monitor::PlanningSceneMonitor::updateFrameTransforms,
+           R"(
+           Update the transforms for the frames that are not part of the kinematic model using tf.
+
+           Examples of these frames are the "map" and "odom_combined" transforms. This function is automatically called
+           when data that uses transforms is received.
+           However, this function should also be called before starting a planning request, for example.
+           )")
+
       .def("start_scene_monitor", &planning_scene_monitor::PlanningSceneMonitor::startSceneMonitor,
            R"(
            Starts the scene monitor.