There are 2 easy ways in FlexSim to do this.
1. Use A Star -> here you just have to add all Task executers and all objects that are not allowed to collide.
2. Use Networknodes -> set point and paths on what task executers have to stay or travel
Here's an example of each suggestion in case you want to compare how they work:
A* Navigation: a-star-navigation-example.fsm
Network Nodes: network-nodes-example.fsm
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