Pick and place using robot and avoid collisions

Hi everyone,
I need your help. I’m trying to make a robot that will pick a point and move it to placing point while avoiding the boxes. but I dont know how to use the check collisions node. Do you have an idea ? if you open the grasshopper you go to Ex 3,4


Best regards
BIM880 - Canvas du TPv3.gh (14.0 MB)
Untitled.3dm (46.9 KB)
Grasshopper™ Plugin Files-20211201.zip (4.0 MB)

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