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bcastets said:
The easiest may is to rotate the tcp of 180° when you when to rotate wrist 3 joint with the same waypoints.

You can change tcp with the script command: set_tcp(p[0,0,0,0,0,0])

do I have to set the tcp before every waypoint? I have about a hundred waypoints. I'm also not sure if I am doing it right. It seems that rz controls wrist 3 in the cartesian plane. Therefore, I'm using set_tcp(p[0,0,0,0,0,3.14159...]) on a thread but it is not rotating it 180 degrees. Does this script set tcp as 3.14 rads or adds it onto the existing tcp? Thanks