Move It task constructor clearance cost

edit

Hi,

I found that there is a new way to add cost when computing IK in Moveit Task Constructor. There is an example here but it doesn't give any hint about each of the parameter meaning. Has anyone used it already ? Can it increase (like the name says) the clearance between robot and object when planning (without having to tweak the longest_valid_segment_fraction at a very low value). ?

Thanks for the help

Regards,