I want to track one additional point on the robot end effector to be able to demonstrate how it changes its configuration during a motion, currently the only stack trace that is showed is the one of the tool center point and its trajectory, I want to add a second relative point that will be able to show how it changes its configuration, how can I do that, is it even possible?
Or a way to add trajectory for how each of the joints move? Or a way to extract the joint angles during the motion in a csv or something so that I can plot it?