I'm working with a 3-link robot model with a TRR kinematic arrangement. The translation axis is 1.2 m long with limts [0, 1.2]. The rotary axes are 0.4 m long each and have limits of [-pi, pi]. A distance metric of ||q||, while valid, will obviously move the translation axis quite a bit relative to the rotary axes. This is because a distance of 1 m is treated equivalent to a rotation of 1 radian. What I'd like is to assign weights to the distance metric so that I can define the "aspect ratio" of the C-space to be much more sane - but I can't find a method to do this.
I see in OMPL that for CompoundStateSpace a method exists (setSubSpaceWeight) that accomplishes this. I'm looking for similar functionality through some configuration of the MoveIt state space. Possible?
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