# Change waypoint configuration while robot is running

**URL:** <https://forum.universal-robots.com/t/change-waypoint-configuration-while-robot-is-running/1877>\
**Category:** URCaps SDK\
**Created:** [April 12, 2018, 10:41pm UTC](https://forum.universal-robots.com/t/change-waypoint-configuration-while-robot-is-running/1877 "2018-04-12T22:41:04Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![anon41439256](https://avatars.discourse-cdn.com/v4/letter/a/5fc32e/32.png) [@anon41439256](https://forum.universal-robots.com/u/anon41439256)\
**Post date:** [April 12, 2018, 10:41pm UTC](https://forum.universal-robots.com/t/change-waypoint-configuration-while-robot-is-running/1877/1 "2018-04-12T22:41:04Z")

</div>

Is it possible to make new waypoint configurations and updating the waypoint continues while the robot is running using _setConfig()_ on a waypoint node?

I’m trying to create a configuration using _waypointNodeConfigFactory.createFixedPositionConfig(pose, jointPositions, blendParameters, motionParameters);_ but I can’t figure out how to get a usable _jointPositions_. I have tried _JointPosition[] jp = jointPositions.getAllJointPositions()_ and creating a jointPositions but polyscope gives a nullPointerException.

Can I create a Position configuration another way?