Hello! I've now been struggling to learn myself how to write a code for basic movements for the KUKA LBR iiwa 7 R800. The task on hand is to make the robot draw the X's and O's in an TicTacToe game. I've been reading some manuals and figured out that I should be using the PTP and CIRC functions for the basic drawing movements, but the lack of example codes frustrate me. It would be awesome if any of you would give me some tips when it comes to coding.