The issue comes up when the tcp rotation is other than x,y,z,0,0,0. the api generated waypoints do have the tcp offset tho. See Here. This was implemented a year ago and should work. To prevent it from calculating the false inverse kinematics we calculated the rotation manually (rx = -0.58,ry=0,rz=0). After that the bug no longer occurs tho it is not possible to move the robot in the tool space correctly😉