1) This kind of question should be on answers.ros.org I think.
2) Does [this tutorial](
http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/move_group_interface/move_group_interface_tutorial.html) solve your problem? The correspondig [set_path_constraints](
http://docs.ros.org/kinetic/api/moveit_commander/html/classmoveit__commander_1_1move__group_1_1MoveGroupCommander.html#a9b512df3096be969847a5375ea3598ce) function exists in the Python MoveGroupCommander.
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