Hi Abby. We don't any guidance on programming this exact example, but in the UR script manual you can find descriptions of all the different commands: help.universal-robots.com/OTHER/ScriptwebG5/Content/prod-scriptmanual/G5/The%20URScript%20Programming%20Language.htm
@@UniversalRobotsAcademy thanks for this! do you need to have a certain version for the "untill --> tool contact" option to be available? I'm currently running URSim and this option is not available for me.
