Script wanted to output vertex positions to file and adjust angle for collision avoidance.

Willing to pay for someone to write a script that will animate tool path of router attachment on robot to cut 3d sculptures. I can produce 3 axis csv file that needs to be converted to 5 axis to angle the tool to avoid collision with collet.
Not sure if possible to do using MassFX or just to check nearest vertex from offset position and alter orientation as needed.
Any suggestions?