Pose Goal as Motion Plan Request [closed]
I have gone through the moveit_msgs and I have seen the Motion Plan Request.
My question is, how can we specify a pose goal in the motion plan request? Is it possible to set a simple pose goal as shown in the moveit tutorials?
Also in the motion plan request message, there is a goal_constraints which further contains position_constraints. What is this constraint and where could it be used?
Thank you!