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You can modify the distance metric, but not without modifying MoveIt itself.

You should be able to call ModelBasedStateSpace::setDistanceFunction() with your preferred distance function. OMPL delegates it's distance calls there, so that will change the distance metric for the planner you're using. You'll probably want to call setDistanceFunction somewhere in the presolve function.

We're working on making this simpler by allowing you to write your own planning plugin for OMPL, I'll update this answer when that progresses.