If you are using standard Polyscope for your moves , just check the “Use Joint Angles” checkbox under the MoveJ’s properties.
Polyscope saves all waypoints as both a Pose and a JointPositions. This can be seen by selecting the “Variables” tab and checking the “Show Waypoints” checkbox at the bottom. The waypoints will have a “_p” or “_q” suffix for Pose or JointPositions respectively. 
When checking the “Use Joint Angles” checkbox, it will use the _q value and should just roll around your TCP.