Hi, I'm relatively new to OMPL and MoveIt, but I'm fairly certain that I understand the capabilities of OMPL and that there are no tutorials for this. Maybe I'm just missing something. I'm hoping someone might have an idea.
I want to use the general state cost integral optimization objective to plan movements for a UR5 robot arm. I know how to tell MoveIt to use this method (in ompl_planning.yaml), but I don't know where I need to define the cost function. Is it even possible at the moment?
Thank you for your time!
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