follow_path.yaml

vacuum_follow_path:
  mode: single
  alias: Vacuum follow path
  fields:
    path:
      name: Path
    entity_id:
      name: Vacuum entity
  sequence:
    - repeat:
        count: "{{ path | length }}"
        sequence:
          - service: vacuum.send_command
            data:
              entity_id: "{{ entity_id }}"
              command: app_goto_target
              params: "{{ path[repeat.index-1] }}"
          - wait_template: "{{ is_state(entity_id, 'cleaning') }}"
            timeout: 00:00:30
            continue_on_timeout: false
          - delay: 00:00:01
          - wait_template: "{{ is_state(entity_id, 'idle') or is_state(entity_id, 'paused') }}"
            timeout: 00:05:00
            continue_on_timeout: false