# <SNIP>

			# Add a separate target item
			if createTargets == True:
				target = self.RDK.AddTarget(f'Line {n+1}')

				# This returns a Pose
				newPose = robomath.point_Zaxis_2_pose(xyz, ijk)
				target.setPose(newPose)
				pi = target

				# Add joint moves for the first and last position
				if n == 0 or n == lineCount-1:
					program.MoveJ(pi)
				else:
					program.MoveL(pi)

			# Add the instruction without a separate target
			else:
				# This returns a Pose
				newPose = robomath.point_Zaxis_2_pose(xyz, ijk)

				# Add joint moves for the first and last position
				if n == 0:
					program.MoveJ(newPose)
				else:
					program.MoveL(newPose)

		# Insert the home position
		program.MoveJ(homeJoints)

# <SNIP>