API generated Waypoints lack in Range of TCP Offset

Technical Questions
8

I would like to suggest a possible workaround for this bug.
Please report back if this is able to mitigate this issue.

When inserting a waypoint, you are either capturing the data from the RobotPositionCallback, or the RTDE.
Either way, you are getting: Pose (including TCP) and the JointPositions at the given waypoint.

  1. Create a Move node
  2. Create a Move Node configuration, that configures the MoveNode to:
    a. MoveL or MoveP
    b. Specifies a TCP on the MoveNode other than “Use Active TCP” or “Ignore TCP” - selecting a distinct TCP.
  3. Insert the MoveNode in the Tree.
  4. Create a new Waypoint
  5. Insert the unconfigured waypoint in the Tree, under the MoveNode
  6. Create a Waypoint Configuration, that includes the Pose and JointPositions captured.
  7. Apply the Waypoint Configuration to the “unconfigured” Waypoint in the Tree.

This should properly account for the TCP.
Repeat steps 4-7 for each subsequent waypoint.
Critical step are 2.b and 5.

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