Teach mod or Path training for 6-axis robot

I want to manually control a 6-axis robot with the following three methods.1_ Point to point:In this case, the initial and final position of the tool to move between two points must be saved in a gcode file  2_ direct route:In this case, the tool must travel a straight path between two points3_ circular movement:In this case, by placing the tool on three points of the circumference of the circle and specifying the degree of movement from the first point, make a circular movement. I am new to the forum and don't know much about Linux CNC.I ask all those who have experience in this field or have an idea to do this work to guide me.Thank you very much

Unfortunately, I was careless when opening the topic and there is a spelling mistake in the topic, and I didn't know how to edit it, that's why I deleted it.
Correct expression: Teach mod or Path training for 6-axis robot

In fact, if I want to express my meaning more clearly, I am looking for a program that, for example, for a welding robot, the operator moves the end of the robot to a place to start welding and saves the coordinates of that point, and then the end point of welding. specify and at the end specify how the robot moves between two points.
Now the movement between two points is either in the form of direct movement (with feed rate or without feed rate) or in the form of circular movement or zigzag movement.
At the end of the program, by getting this information from the operator, create a G-code file to repeat and perform the movement.

An idea that comes to my mind is to act similar to what is done in creating fitters. In such a way that the operator gives the necessary information as input to the program in a tab, and then the program creates the desired G-code file and saves it somewhere on the computer.
But I don't know how to do it