How to generate a trajectory as a result of optimization problem under certain constraints?

Could you please help/guide me in providing/writing a script for this trajectory generation scenrio of a single agent in 3D space:

Initial trajectory for an agent is set as only two waypoints (start, goal). The trajectory is represented as standard polynomial, which will be optimized (acceleration, snap or jerk optimization) with velocity, acceleration constraints, and one more constraint that the agent can't pass through a certain waypoint in the space.

Please feel free to let me know if you want any more information/clarification

Thank you for your time.