# Custom Waypoint-like node in URCaps

**URL:** <https://forum.universal-robots.com/t/custom-waypoint-like-node-in-urcaps/1209>\
**Category:** URCaps SDK\
**Created:** [September 25, 2017, 4:57pm UTC](https://forum.universal-robots.com/t/custom-waypoint-like-node-in-urcaps/1209 "2017-09-25T16:57:49Z")\
**Posts on this page:** 7\
**Page:** 1

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**Author:** ![anon51496239](https://avatars.discourse-cdn.com/v4/letter/a/94ad74/32.png) [@anon51496239](https://forum.universal-robots.com/u/anon51496239)\
**Post date:** [September 25, 2017, 4:57pm UTC](https://forum.universal-robots.com/t/custom-waypoint-like-node-in-urcaps/1209/1 "2017-09-25T16:57:49Z")

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In my URCaps application, I want to create a custom Program node that acts like a Waypoint. The only difference is that my custom waypoint node will be applying some pre-determined transformation to that waypoint.

The only solution I’ve been able to come up with is to create a program node that does both the transformation and the move command (via the generated script) at once. But is there a way to make the node callable by the Move, or perhaps subclass a waypoint?

The structure could look like this (where UR waypoints and my custom waypoints are intermingled):  
 ![customwaypoint](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/1X/aa5a0354a48abe707738e02bdcf687d35f327523.png)

Any ideas would be much appreciated. Thank you.

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**Author:** ![anon51496239](https://avatars.discourse-cdn.com/v4/letter/a/94ad74/32.png) [@anon51496239](https://forum.universal-robots.com/u/anon51496239)\
**Post date:** [September 25, 2017, 5:37pm UTC](https://forum.universal-robots.com/t/custom-waypoint-like-node-in-urcaps/1209/2 "2017-09-25T17:37:41Z")

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Another thought is that if I can get the movement type of the parent Move node, then I can have my custom waypoint insert the corresponding script. Is there a way to do this perhaps?

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**Author:** ![chris.briedenhann](https://avatars.discourse-cdn.com/v4/letter/c/9de053/32.png) [@chris.briedenhann](https://forum.universal-robots.com/u/chris.briedenhann)\
**Post date:** [March 5, 2019, 10:36am UTC](https://forum.universal-robots.com/t/custom-waypoint-like-node-in-urcaps/1209/3 "2019-03-05T10:36:37Z")

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Hi Paul

Have you found a solution for this problem, I need to do exacly the same on my project.

Chris

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<div class="post-metadata">

**Author:** ![anon51496239](https://avatars.discourse-cdn.com/v4/letter/a/94ad74/32.png) [@anon51496239](https://forum.universal-robots.com/u/anon51496239)\
**Post date:** [March 5, 2019, 8:01pm UTC](https://forum.universal-robots.com/t/custom-waypoint-like-node-in-urcaps/1209/4 "2019-03-05T20:01:51Z")

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@ [chris.briedenhann](https://forum.universal-robots.com/u/chris.briedenhann)

No. I ended up just doing what I mentioned in the first post and have my own Waypoint-like program node that does both the movement and the waypoint in one. So it might look like this

```
Robot Program
  MoveJ
    UR_Waypoint
  URCapCustomMoveNode
  MoveJ
    UR_Waypoint2

```

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<div class="post-metadata">

**Author:** ![chris.briedenhann](https://avatars.discourse-cdn.com/v4/letter/c/9de053/32.png) [@chris.briedenhann](https://forum.universal-robots.com/u/chris.briedenhann)\
**Post date:** [March 6, 2019, 7:12pm UTC](https://forum.universal-robots.com/t/custom-waypoint-like-node-in-urcaps/1209/5 "2019-03-06T19:12:12Z")

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Thanks, that is exactly what I am trying to do.

Did you do a custom node or are you using a script function generated by a URCap to  
do the motion in, not sure which way is the best.

Another question is if I add multiple custom MoveNodes, will it be able to do rounding.

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<div class="post-metadata">

**Author:** ![anon51496239](https://avatars.discourse-cdn.com/v4/letter/a/94ad74/32.png) [@anon51496239](https://forum.universal-robots.com/u/anon51496239)\
**Post date:** [March 6, 2019, 7:25pm UTC](https://forum.universal-robots.com/t/custom-waypoint-like-node-in-urcaps/1209/6 "2019-03-06T19:25:57Z")

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I made a custom node whose contribution’s `GenerateScript` function essentially inserts a `movej`, `movel`, or `movep` UR script command based on a user selection. If using a `movep`, it’s a bit more complicated (I think you need move nodes adjacent, not sure off the top of my head), but that will achieve the rounding you mention.

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**Author:** ![chris.briedenhann](https://avatars.discourse-cdn.com/v4/letter/c/9de053/32.png) [@chris.briedenhann](https://forum.universal-robots.com/u/chris.briedenhann)\
**Post date:** [March 7, 2019, 6:18am UTC](https://forum.universal-robots.com/t/custom-waypoint-like-node-in-urcaps/1209/7 "2019-03-07T06:18:58Z")

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So at least I am on the right track.

I will definitely have more questions but thank for the guidance.