Hi, It's probably a simple question, but I can't figure it out. I'm trying to set up the robot whereby an operator manually moves the robot TCP to a position and sets it as waypoint_1. Then the program automatically orients the TCP so it is parallel to the base X and Y axis.My thinking is that I can use the following code:Pos1 = get_actual_tcp_pose() #records the current position to Pos1Pos1 = rotation needed to get parallel to Base XPos1 = rotation needed to get parallel to Base Y. And then a MoveL to Pos1 brings the TCP into line. Firstly I can't see a way to access elements in the array like this, and secondly, I don't know if it's the best approach.If anyone can tell me what I'm missing here I'd greatly appreciate it.