It is possible to improve the existing objective function in RPL (using COOJA simulator), all you have to do is to implement the new metrics in the objective function file:
1- Search for MRHOF-OF file in RPL folder
2- Define your new metric(s)
3- Define new functions that manipulate your metric(s)
Note that you have to edit some other files by defining your metrics depending on the used factors in your new metrics.