# Add waypoints without moving across them **URL:** \ **Category:** URCap Development\ **Created:** [March 15, 2022, 11:37am UTC](https://forum.universal-robots.com/t/add-waypoints-without-moving-across-them/19886 "2022-03-15T11:37:10Z")\ **Posts on this page:** 1\ **Showing post:** 5
**Author:** ![cg1](https://avatars.discourse-cdn.com/v4/letter/c/c77e96/32.png) [@cg1](https://forum.universal-robots.com/u/cg1)\ **Post date:** [March 15, 2022, 1:51pm UTC](https://forum.universal-robots.com/t/add-waypoints-without-moving-across-them/19886/5 "2022-03-15T13:51:19Z")
> [@anon84921795](#): > > 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. If a move and a bunch of waypoints are added as children into a custom node the children should not be called if you use the writer.writeChildren() call. soby leaving this out you jump across all child nodes. Also kinda of an ugly solution as its resluts in the ilusstion that a move is happening and that you (the user) have some control over it. I would recommend looking into the customAPI sample for this purpose. > [@URCap Sample: URCap CustomAPI](https://forum.universal-robots.com/t/urcap-sample-urcap-customapi/3022): > > URCap CustomAPI Description of functionality: This example demonstrated the usage of the URCap CustomAPI interface. Allowing a parent node to configure the configuration of its child node. In this example, this is covered by allowing the parent node to define the color of the child node. What topics are covered: Proprietary API, Custom API, parent node, child node, interfaces [Find it on Github!](https://github.com/BomMadsen/URCap-CustomAPI) Requirements: URCaps API 1.3 (Swing) As a solution using this would properly give you the prettiest result. --- _[View the full topic](https://forum.universal-robots.com/t/add-waypoints-without-moving-across-them/19886)._