Is it possible to add a new cost function to CHOMP?

Greetings, I'm actively involved in a robotics project featuring a 6-axis robotic arm. Upon completing the picking up task, my goal is to limit the gripper's rotations as it transitions to the dropping position. Is there a viable method to incorporate a cost function into CHOMP or explore alternative approaches? I'm also considering the integration of Inverse Kinematics Designer with CHOMP or RRT within the MATLAB/Simulink environment. Notably, I'm currently excluding the use of ROS or external applications. Any insights or guidance on achieving this objective would be highly valued.

Answer 1

[Walter Roberson]

There is no way to specify a custom cost function for https://www.mathworks.com/help/robotics/ref/manipulatorchomp.html

[Denizhan AKINCI]

Thank you for your answer. Well if cannot do that, do you knof if it's feasible somehow to consistently maintain a specific angle for the gripper throughout a trajectory on Matlab/Simulink?