# Adding a waypoint under a move node

**URL:** <https://forum.universal-robots.com/t/adding-a-waypoint-under-a-move-node/13890>\
**Category:** URCaps SDK\
**Created:** [April 23, 2021, 3:46pm UTC](https://forum.universal-robots.com/t/adding-a-waypoint-under-a-move-node/13890 "2021-04-23T15:46:37Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![m.lupu](https://avatars.discourse-cdn.com/v4/letter/m/9dc877/32.png) [@m.lupu](https://forum.universal-robots.com/u/m.lupu)\
**Post date:** [April 23, 2021, 3:46pm UTC](https://forum.universal-robots.com/t/adding-a-waypoint-under-a-move-node/13890/1 "2021-04-23T15:46:37Z")

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Hello everyone,

After a bit of searching I found out with the swing program node service you can interface directly with the program api to build directly program nodes.  
Is it possible to add under a move node(e.g. MoveL) a waypoint node and give it a customized name

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**Author:** ![Ebbe](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ebbe/32/1413_2.png) [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\
**Post date:** [April 27, 2021, 8:08am UTC](https://forum.universal-robots.com/t/adding-a-waypoint-under-a-move-node/13890/2 "2021-04-27T08:08:05Z")

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Hi @m.lupu

Yes, it is possible! I will recommend you to take a look at the EllipseSwing sample that can be found here: [GitHub - UniversalRobots/EllipseSwing: URCap sample that mainly demonstrates the principle of RobotPositionCallback, WaypointNodeConfig and PoseFactory](https://github.com/UniversalRobots/EllipseSwing)  
It is also available in the SDK and StarterPackage

Ebbe