# This message contains the definition of a position constraint.
# The robot link this constraint refers to
# The offset (in the link frame) for the target point on the link we are planning for
# The nominal/target position for the point we are planning for
# The shape of the bounded region that constrains the position of the end-effector
# This region is always centered at the position defined above
# The orientation of the bounded region that constrains the position of the end-effector.
# This allows the specification of non-axis aligned constraints
# Constraint weighting factor - a weight for this constraint