Adding IOs to trajectories
You can add IOs to each waypoint in a trajectory. In order to do so you need to open the IO library by clicking the Book in the Waypoint properties panel. Then you can add one or multiple IO to the trajectory by Double Clicking any IO in the IO library.
Then you can change the state that you want the IO to be in when toggled by clicking on the arrow on each IO.
You can then change the outputed value for output IOs and change the input requirement for input IOs. You can also use the Force value button in order to manually change the value that is present in the exchange table.
During playing, a trajectory will stop and wait for its input requirements before resuming. A pause is necessary for each waypoint that has an input requirement in its IOs.