[Jan_Groen]

Hello, I am trying to automaticly generate a toolpath with a cobot + dril that will move between diffrent points of an object and avoid collisions with the object. I have a step file and a point cloud with the hole locations. 

The point follow tool is only working in 2.5D and wil still collide with the object when working on a different plane. Is there any other way to automaticly connect points from the pointcloud and create a path between them without collision. 

I was using a collision map but this only works with targets as far a i could find, is there any way to generate these targets out of the point cloud without moving the robot manualy every time.

[Albert]

You can import points with the approach vector (ijk) which should be along the approach direction. These points could be setup as a list of XYZijk values (array of Nx6 values).

You can automate the whole process using the RoboDK API or a custom app. This shows an example about how you can import a CSV file into a curve using Euler angles (not approach vector with points but it can be easily adjusted for that purpose):
https://robodk.com/doc/en/PythonAPI/exam...ram-xyzwpr