https://it.mathworks.com/help/robotics/ref/manipulatorchomp.html
manipulatorCHOMP - Covariant Hamiltonian optimizer for rigid body tree motion planning - MATLAB
The manipulatorCHOMP object optimizes rigid body tree motions using the Covariant Hamiltonian Optimization for Motion Planning (CHOMP) algorithm.
rigid bodymotion planninghamiltonianoptimizer