How to add cost function when using moveit planner

asked 2023-02-18 20:48:05 -0500

I am using ROS melodic in python on Ububtu 18.04. I want to use a trajectory planner that takes a cost function and produce a series of way points. I find that we only have constraints in moveit. Is there any methods to insert a cost function into moveit or is there any Python library that have similar function?

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