The Tool Pose generator adds a waypoint at the current position of the virtual robot’s Tool Pose, which is materialised by its TCP.
It saves the position and the orientation of the current TCP and adds it in the trajectory.
In order to add the Tool Pose to the trajectory you need to click the Add at the end button.
It is possible to change the order you add waypoints by clicking on the arrow on the right of the Add to the end button to select a different mode :
- Add to the end will add created waypoints at the end of the Trajectory,
- Add at the start will add created waypoints at the start of the Trajectory
- Add after will add created waypoints after the last selected Waypoint in the Trajectory
- Replace waypoints will replace all the waypoints in the Trajectory