[FEATURE] Add functionality for scoring in barge for possible end effector swap

[BananasAmIRite]

Description

Please include a summary of the changes and the related issue. Please also include relevant motivation and context. List any dependencies that are required for this change.

Type of change

Please delete options that are not relevant.

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)
• In progress (fix or feature that isn't completed / ignore checklist if this is marked)

Checklist:

• My code follows the style guidelines of this project
• Someone have performed a self-review of my code
• I have commented my code, particularly in hard-to-understand areas
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• New and existing unit tests pass locally with my changes
• Any dependent changes have been merged and published in downstream modules