Inverse kinematics solution with additional custom joint constraints.

[aizmailovs]

Is your feature request related to a problem? Please describe.

When using setFromIK, I am receiving an inverse kinematics solution that respects joint limits and avoids collision with objects in the robot's workspace, which is good.
However, I cannot limit the solution space to additional custom-made joint constraints (moveit_msgs::msg::JointConstraint), at least I have not found the way to add them yet.

Describe the solution you'd like

I would be happy if I could pass additional parameter (array of custom joint constraints) to setFromIK that would further limit joint solution space, in addition to joint limits.

Describe alternatives you've considered

I considered looking for IK solution and then check whether it satisfies custom joint constraints manually. However, it is time costly.

When looking into setFromIK, I saw that there is a const GroupStateValidityCallbackFn& constraint parameter. Is it possible to use it to check the validity of the sampled state including additional joint constraints?

Additional context

No response