Suppose I want to know the set of points that the define bounds which the robot can reach with its TCP (ie the valid configurations) Is there a smart way of finding this? I have scoured through the docs but I cannot find any api functions that will give me this info. Do I really have to iterate through every point in space and try to move there to see if it is possible?
We generate a MeshPart that you can see in green-yellow. It is rendered as TemporaryGraphics and attached to the mechanism. We do not have a public API for the work envelope generation unfortunately. I was looking into the code to see if it could be possible for you to access the MeshPart. From there you could check if a given point was inside the mesh or not. But.. it doesn’t work 
The required information is not accessible after the mesh has been generated and rendered.
Anyway most developers are iterating all points and check reachability with
CalculateInverseKinematicsAsync Method (RsTarget, RsToolData, Boolean)
Can that work for you as well?