Add constraints to final pose output

[akgoins]

• Add bounding box that will constrain the output base location. Constraint should allow for "inside bounding box" for selecting a specific region, and "outside bounding box" for excluding the work cell.
• Add orientation constraint to eliminate final base locations that are not within a given constraint (X degrees from vertical, etc.)

[Kaushik093]

How do I introduce constraints and check if a given pose is reachable or not?

[jontromanab]

@Kaushik093 This reuleaux version is not designed in such way where you can search for a specific pose for reachability. For checking reachability for a specific pose, you can just ran it by your ik solver and it can provide you the output very easily.