Waypoint class Name of the waypoint Type of the waypoint[PTP|LIN|CIRC|WAIT] End position (destination) of the waypoint Control the continuity to the next waypoint in the trajectory Control the velocity to the next waypoint in the trajectory In Case of PTP 0-100% Axis speed In Case of LIN m/s In Case of WAIT s wait time Describe which tool frame to use for that point Describe which Base frame to use for that point