Split Moveit Orientation Constraint into individual axes within drake optimizer

[kamiradi]

Right now, the orientation constraint message from moveit has 3 theta bounds for each axes in the constraint frame. The current orientation constraint implementation just applies one of the three. See comment below.

A better approach would be to add an additional rotational transformation to R_BbarB, computing R_BbarBx, R_BbarBy and R_BbarBz - add 3 different orientation constraints for each axis with the theta_bounds being the individual tolerances.

Originally posted by @kamiradi in #55 (comment)