Hello. I am new to UR script and an intern at DTI Teknologisk Institut Denmark. :)

Im doing a program where i have a UR robot putting down item on a rack. I got it to Seek on Contact and such.
But the movement (To put the item on the rack) is atm made with a very basic line of waypoint.
I would like to know how i can use the Get_actual_TCP_Pose to remember the movements.
As it is now, When it meet the seek on contact, it will go back to the waypoints.
The plan is to ''stack them on the rack side by side.

I hope it made sense :) and sorry for the spelling error.

You could do something like this.

#Replace the waypoint position "p[0,0,0,0,0,0] by a waypoint below the surface
destinationPos=p[0,0,0,0,0,0]

if (continous cheack) force<10
    moveL
        destiantionPos
else
    destinationPos=get_actual_tcp_pose()

#Then next time you can go directly to the position

MoveL
     destinationPos

Thank you. It worked :)