Add an option to specify whether the transition from intersec to
preplace should have placement/complement constraint. This would be
useful when there are multiple surfaces as it ensures preplace would
correspond to the surface the object is picked up from/ going to be
placed on.
Add an option to specify whether the transition from intersec to preplace should have placement/complement constraint. This would be useful when there are multiple surfaces as it ensures preplace would correspond to the surface the object is picked up from/ going to be placed on.