I would like to rotate around a defined position (P0), from P1 to P2, while also rotating the orientation of the tool. I know that with a circular motion, I can define a point P3 along the arc between P1 and P2, and it will rotate around the center point. This will keep the orientation of the tool constant, as in situation A in the image, which is not desired in this instance. What I want is sketched in situation B in the image attached.
To my understanding this should be possible by assigning an RTCP frame with the origin at P0. However I am uncertain how to continue. What kind of movement command do I issue? I know it requires the 'RTCP' option at the end, but I can still choose between Linear and Circular motion. Any information on how to achieve the desired motion (situation B) would be appreciated.