Set position constraints via Moveit's PositionConstraint message

moveit / moveit_drake

Experimental repository for Moveit2 - Drake integration

BSD 3-Clause "New" or "Revised" License

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Closed kamiradi closed 1 month ago

kamiradi commented 1 month ago

This PR setsup a MoveIt PositionConstraint transcription. It achieves the following

Reads Constraints in the MotionPlanningRequest
retrieves PostionConstraint based box constraint
Transcribes a drake Bounding Box constraint based on dimensions and pose of the box constraint.