The problem I hoped to get around with this, is related to this Create waypoint with variable - #3 by michael.andresen, where I had hoped I could make a more simple program tree. Every time the robot comes to the urcap, it needs to go to a different position than last time. I already got the pose it needs to go to in a variable, I just can’t figure out how to make it use that variable.
My current solution got the script doing everything, but I want it to be more flexible and easier to add and modify.