Moving to waypoint by its name

[devidmiler565]

@fernando.n.valdes_re

Hello all!

I have a sequence of 70+ waypoints that I am moving through using moveP. I have a force/torque sensor to detect if/when I make a collision while moving through these points. I would like to move back to my start point via the waypoints I traversed if I detect a collision (calling them in reverse order after colliding).

The way I thought I might be able to implement this is by leaving waypoint to their default names (Waypoint_1, Waypoint_2,etc) and incrementing a counter if I reach my next my next point without collision. I if do collide, I would like to do custom patch maker and something like: movep(“Waypoint_”+to_str(counter)_p, a=1.2, v=0.25, r=0). this would allow me to back out starting at any waypoint in my chain and move to the starting waypoint by decrementing my counter between moves. This line however does not work as the argument for the pose is still a string and not a pose.

Does anyone know of a way I can move to a waypoint by passing its name or a better way to get my desired behavior? I do not need to use movep if that is an issue, but that move is preferred to limit accelerations and noise in my F/T sensor

Robot: UR5e, Polyscope:5.9

Thanks for asking but i think i can’t use the actual names of the waypoints. what is the major issue you are facing man?