# Add waypoint outside of Move **URL:** \ **Category:** Java\ **Created:** [February 16, 2018, 11:14am UTC](https://forum.universal-robots.com/t/add-waypoint-outside-of-move/1640 "2018-02-16T11:14:16Z")\ **Posts on this page:** 6\ **Page:** 1
**Author:** ![anon35515323](https://avatars.discourse-cdn.com/v4/letter/a/58f4c7/32.png) [@anon35515323](https://forum.universal-robots.com/u/anon35515323)\ **Post date:** [February 16, 2018, 11:14am UTC](https://forum.universal-robots.com/t/add-waypoint-outside-of-move/1640/1 "2018-02-16T11:14:16Z")
Hi everyone, I have implemented my own costum move and I created an urcap to use it on my robot. ![1](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/1X/1927f122e0892af31bad0bf2cda651e01fe5bc3f.png) Within the function MyCostumMove (urscript) I already use a move to the waypoint I would like to set, and I don’t want to call another move outside of it. I would like to use the standard waypoint to set the target point of my costum move, howewer if I try to add it programatically to the program root the waypoint node insn’t rendered in the Program Tree. It seems that the waypoint is only rendered if it have a move node as parent, how can I use the default waypoint without creating a move? ---
**Author:** ![anon53917834](https://avatars.discourse-cdn.com/v4/letter/a/b2d939/32.png) [@anon53917834](https://forum.universal-robots.com/u/anon53917834)\ **Post date:** [February 16, 2018, 11:39am UTC](https://forum.universal-robots.com/t/add-waypoint-outside-of-move/1640/2 "2018-02-16T11:39:33Z")
Hey, I’m not sur but if I remember it’s not possible to add the default waypoint but if you create your own waypoint it should works. ---
**Author:** ![anon84193556](https://avatars.discourse-cdn.com/v4/letter/a/a88e4f/32.png) [@anon84193556](https://forum.universal-robots.com/u/anon84193556)\ **Post date:** [November 8, 2021, 10:40am UTC](https://forum.universal-robots.com/t/add-waypoint-outside-of-move/1640/3 "2021-11-08T10:40:27Z")
Hi! i know that 3 years have elapsed, do you have some updated about this topic? ---
**Author:** ![sam.verity-hilton](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/sam.verity-hilton/32/6046_2.png) [@sam.verity-hilton](https://forum.universal-robots.com/u/sam.verity-hilton)\ **Post date:** [November 8, 2021, 11:16am UTC](https://forum.universal-robots.com/t/add-waypoint-outside-of-move/1640/4 "2021-11-08T11:16:45Z")
You can’t use a polyscope waypoint node without a parent move node, as mentioned in a previous post, polyscope will ignore calls to add a waypoint if theres isnt a move node already present. You will need to code your own program node to mimic the functionality fo a waypoint node if you intend to code your own type of move node. ---
**Author:** ![anon84921795](https://avatars.discourse-cdn.com/v4/letter/a/ee7513/32.png) [@anon84921795](https://forum.universal-robots.com/u/anon84921795)\ **Post date:** [March 15, 2022, 11:20am UTC](https://forum.universal-robots.com/t/add-waypoint-outside-of-move/1640/5 "2022-03-15T11:20:06Z")
Thank you for your answer! I have a question for you: my goal is to add a set of waypoints in order to save their coordinates but i do not want to move across them (i know that it sounds a bit tricky but i have coded a proper urcap that will do the magic). The only option that i have found up to now is to insert an IF FALSE statement and add inside a moveNode with the waypoints: by doing in this way i am able to achieve my goal. Do you know if i have other options? ---
**Author:** ![sam.verity-hilton](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/sam.verity-hilton/32/6046_2.png) [@sam.verity-hilton](https://forum.universal-robots.com/u/sam.verity-hilton)\ **Post date:** [March 23, 2022, 11:06am UTC](https://forum.universal-robots.com/t/add-waypoint-outside-of-move/1640/6 "2022-03-23T11:06:30Z")
If your eventual goal is to use the positional data as part of a URCap, then you could create your own program/installation node which is used to collect and store the data, rather than having a list of waypoints inside an `if(false)` node, this is a lot less secure. You can use the API to collect positional data about the current TCP position etc.