Create Waypoints in MoveNodes with external Button

It might help to take a look at this sample: URCap Sample: Vision Template Builder
Src → PickProgramNodeContribution.java

I would think that the code should look something like this:

TreeNode root = MoveP node
root.addChild(Point_2).

But check the out the API Reference for TreeNode/Program node and the sample.

https://plus.universal-robots.com/api-reference/

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