Evaluates the cost of the goal pose by determining how far it is from the underconstrained task manifold. The orientation and position cost range from 0 to one. The tolerance around the tool specified in the motion plan is used to determine the cost. The parameters are as follow:
cost_functions:
position_cost_weight: 0.5
orientation_cost_weight: 0.5
- class: The class name.
- position_cost_weight: Factor applied to the position error cost. The total cost = pos_cost * pos_weight + orient_cost * orient_weight
- orientation_cost_weight: Factor applied to the orientation error cost. The total cost = pos_cost * pos_weight + orient_cost * orient_weight