discrete 3D voxel occupancy grid

Prompt

discrete 3D voxel occupancy grid representing a spatial environment (typically used for robotic arm reachability, 3D path planning bigger picture image. i want a user (later algorithm) to select voxels to guide the tcp to reach a waypoint. question is: - do we need to encode more info in the voxel regaridng reachability. like voxel data is separated into independent layers, path collisions are stored as directed edge results rather than voxel states -the user can select the voxel the tcp to move thru to reach to a point and avoid collision. at first disregardung collision just to test that the robot can follow voxel selection. then we incooperate the collision and ask the user to choice different voxel or search for the nearest wihout collision. third step make sure all the path in all voxels doesnt have colilsion. make a plan