# Creating waypoints while the code is running **URL:** \ **Category:** URScript\ **Created:** [July 10, 2025, 1:23pm UTC](https://forum.universal-robots.com/t/creating-waypoints-while-the-code-is-running/40517 "2025-07-10T13:23:03Z")\ **Posts on this page:** 3\ **Page:** 1
**Author:** ![hayden.ntungwe](https://avatars.discourse-cdn.com/v4/letter/h/f475e1/32.png) [@hayden.ntungwe](https://forum.universal-robots.com/u/hayden.ntungwe)\ **Post date:** [July 10, 2025, 1:23pm UTC](https://forum.universal-robots.com/t/creating-waypoints-while-the-code-is-running/40517/1 "2025-07-10T13:23:03Z")
In my UR10 script I want to be able to us until contact to make it so that my tool keeps going until it makes contact with my item and from there it creates a waypoint at the spot where it made contact. Then I will move my arm certain distance until it makes contact with another point of the item and it will create another waypoint. From there I want it to go back to the first waypoint and move in the distance between the 1st and 2nd. ---
**Author:** ![francis](https://avatars.discourse-cdn.com/v4/letter/f/ac8455/32.png) [@francis](https://forum.universal-robots.com/u/francis)\ **Post date:** [July 11, 2025, 12:24am UTC](https://forum.universal-robots.com/t/creating-waypoints-while-the-code-is-running/40517/2 "2025-07-11T00:24:13Z")
you can get the contact points using get\_actual\_tcp\_pose() and save it in a variable. then use that variable as the parameter for your movej or movel. ---
**Author:** ![hayden.ntungwe](https://avatars.discourse-cdn.com/v4/letter/h/f475e1/32.png) [@hayden.ntungwe](https://forum.universal-robots.com/u/hayden.ntungwe)\ **Post date:** [July 11, 2025, 5:49pm UTC](https://forum.universal-robots.com/t/creating-waypoints-while-the-code-is-running/40517/3 "2025-07-11T17:49:49Z")
Thankyou it worked fine