Hello!
It is possible to use direction until on ur5 cb ?
You can achieve the same by doing it “manually”. 
If what you’re seeking is Until Contact for example, then you can do like this:
Just make sure to enable the box “Check expression continuously”. And you have to go very slow downwards with the CB series, since it doesn’t have an FT sensor. It is basing its readings on the currents of the joints and it is very crude.
Your Waypoint_2 just has to be in the direction from Waypoint_1 that you wish for it to move.