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Preventing my robot from colliding with solid objects

I have one CAD data in RDk and 8 solid objects divided into pieces. I want the robot to move along the curves in my CAD data, avoiding collisions, and find the automatic path algorithm itself. Can I do this automatically with the Python API?
You can automatically create a curve follow project or a point follow project by using the setMachiningParameters function or AddMachiningProject

You can find more information here:

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