[b05611018]

I’m currently trying to replicate the “Link selected programs” functionality using the RoboDK API.
From my understanding, I can already achieve a similar result by creating a main program and using

Code:

RunInstruction(..., INSTRUCTION_CALL_PROGRAM)

to call multiple sub-programs. However, I noticed that your built-in Link selected programs feature seems to do more than just calling programs sequentially.
In particular, it appears to automatically generate safe transition motions (e.g., collision-free or obstacle-avoiding paths) between programs. This is extremely useful for ensuring safe execution, especially in machining workflows.
I would like to ask:

1. Is there any API that directly replicates the full behavior of “Link selected programs”, including the automatic generation of safe transition paths?
   
2. If not, is there a recommended way to programmatically generate these safe linking motions between programs (e.g., via motion planning, collision checking, or predefined safe targets)?
   

My goal is to fully automate the generation of a main program that not only links sub-programs, but also ensures safe transitions between them, similar to what the GUI provides.
Thank you for your help!