Instead of setting up planes as safety protection, how can we setup objectives as obstacles? What if it is active(moving) obstacles how can we do?
Instead of setup a payload as a circle sphere, can we set it up as custom shape?
Also, robot must move to target point with avoiding obstacles.
Should we program or reroute path? Or is robot able to decide other paths automatically (if he knows obstacles)?
I just want to get possible ideas and current solutions(examples).
Thank you
None of the points you mention are possible sadly. 
It all has to be done “manually” in programming.
The robot cannot determine a path by itself, and it’s solely reliant on the coordinates provided.
You may be able to find 3rd party vision systems that can analyze an environment and perform some of what you’re asking (like obstacle avoidance). Just be prepared to fight the vision system for a while until it (maybe) works (somewhat)
So, we need 3rd party product to setup environment and additional programming to reroute path to avoid obstacles. What do you think of this Universal Robots - ActiNav URCap 1.6.1. could ACTINAV be one of solutions? or do you know others?
Pretty sure UR canned the whole Actinav Project. Maybe I’m wrong about that though
Do know any other systems or links I can look up?
I don’t. We’ve used Keyence systems in the past for traditional robots. You can always reach out to them. Your local UR distributor might also have some useful insights
Thank you for your all answers!