After adding pose from distance sensor to the actual pose, movement is OK, and goes where I expected. I need to change left over waypoints with new Z coordinate. This is like giving offset for robot axis in main setup(Installation). But i need to do that for every cycle. 

You could use a feature and then have all the points relative to that feature. Then when you update the feature every cycle all of the points would update automatically. This would require you to use a moveL if you want to use standard Polyscope move functions and not script. 

Thanks Matthew. I will try. By the way do you know the way for updating simulator version? My sim is V3.07 so Cobot is 3.14. I was thinking to use direction function for sometime which is not on the simulator.

Depends, when I was using the vbox files from UR I would just download a new version. We run Vagrant now and so have a virtual Linux box and I just download the various versions from UR for Linux and have them all in my Linux virtual machine and can pick and choose which I want to run.