# Update Waypoint and manually move to it

**URL:** <https://forum.universal-robots.com/t/update-waypoint-and-manually-move-to-it/22553>\
**Category:** Technical Questions\
**Created:** [July 8, 2022, 1:13pm UTC](https://forum.universal-robots.com/t/update-waypoint-and-manually-move-to-it/22553 "2022-07-08T13:13:09Z")\
**Posts on this page:** 3\
**Page:** 1

<div class="post-metadata">

**Author:** ![anon97541545](https://avatars.discourse-cdn.com/v4/letter/a/85f322/32.png) [@anon97541545](https://forum.universal-robots.com/u/anon97541545)\
**Post date:** [July 8, 2022, 1:13pm UTC](https://forum.universal-robots.com/t/update-waypoint-and-manually-move-to-it/22553/1 "2022-07-08T13:13:09Z")

</div>

Hi there,

is it possible to update a waypoint with a script and manually move to this point after the program is stopped?  
It seems like the Waypoint will be initialized with the original teached position at the next start of the program.

Thanks

---

<div class="post-metadata">

**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\
**Post date:** [July 8, 2022, 2:29pm UTC](https://forum.universal-robots.com/t/update-waypoint-and-manually-move-to-it/22553/2 "2022-07-08T14:29:54Z")

</div>

I do not believe you can update the waypoint in such a way that lets you use the “Move To” functionality to preserve the new position. You can set the point up to use a “Variable” position, and create a global installation variable. When you update this global pose variable, it will be remembered on subsequent runs.

---

<div class="post-metadata">

**Author:** ![bba](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/bba/32/555_2.png) [@bba](https://forum.universal-robots.com/u/bba)\
**Post date:** [July 8, 2022, 5:06pm UTC](https://forum.universal-robots.com/t/update-waypoint-and-manually-move-to-it/22553/3 "2022-07-08T17:06:32Z")

</div>

Hi,  
If I understand your question properly then the answer is no. You cannot move to a modified waypoint/pose (variable) in ‘‘teach’’ mode. Once you stop the program polyscope does not retain that updated waypoint in an accessible way.