# Creating a UR5e program (with program tree) with Python

**URL:** <https://forum.universal-robots.com/t/creating-a-ur5e-program-with-program-tree-with-python/28107>\
**Category:** General Application Help: How do I?\
**Created:** [April 25, 2023, 12:21pm UTC](https://forum.universal-robots.com/t/creating-a-ur5e-program-with-program-tree-with-python/28107 "2023-04-25T12:21:11Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![sakari.salmi](https://avatars.discourse-cdn.com/v4/letter/s/c37758/32.png) [@sakari.salmi](https://forum.universal-robots.com/u/sakari.salmi)\
**Post date:** [April 25, 2023, 12:21pm UTC](https://forum.universal-robots.com/t/creating-a-ur5e-program-with-program-tree-with-python/28107/1 "2023-04-25T12:21:11Z")

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Hi,

We have a UR5e robot that we run mainly with script-files that we create with a Python-algorithm. This approach works great in most cases but sometimes we miss the option to select a waypoint from the program tree, and continue the program from this point.

My question is if there is a way to give the operator a possibility to choose from which position to start the program in Polyscope, without actually creating the program via the pendant? For example: Is it possible to create Polyscope-programs with URscript (meaning that the program tree and so on is visible on screen)?

Thanks in advance