kinematics_msgs/GetConstraintAwarePositionIK Service

# A service call to carry out an inverse kinematics computation
# The inverse kinematics request
kinematics_msgs/PositionIKRequest ik_request
# A set of allowable contact regions
motion_planning_msgs/AllowedContactSpecification[] allowed_contacts
# A set of ordered collision operations to determine the resultant collision matrix to use
motion_planning_msgs/OrderedCollisionOperations ordered_collision_operations
# A set of links for which to alter the padding to the indicated values
motion_planning_msgs/LinkPadding[] link_padding
# A set of constraints that the IK must obey
motion_planning_msgs/Constraints constraints
# Maximum allowed time for IK calculation
duration timeout
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# The returned solution 
motion_planning_msgs/RobotState solution
motion_planning_msgs/ArmNavigationErrorCodes error_code