We have just developed a grasshopper component which works for KUKA|prc plugin a tool set developed by Robots in Architecture and enables users to remove the collision from a defined tool path by rotating the fifth axis about the rotary axis of the tool. The usage of this plug-in is mainly in the area of the robotic machining where a tool is attached to the robot arm and used for milling. We are now publishing the plug-in for a limited period (till end of the 2021) in order to get feed back from end users. Please visit the product page for download and use the forum on the same page to give your feedback.