Get Waypoint name

URCap Development URCaps SDK
1

I’m working on a URCap where I need to collect the names of all waypoint that are children of my URcap node. I can successfully traverse the waypoint children using the code below and retrieve their poses (for fixed_position waypoints). However, I’m unsure how to retrieve the names of these waypoints as they appear in the program tree.

     
root.traverse(new ProgramNodeVisitor() {
			@Override
			public void visit(WaypointNode programNode, int index, int depth) {
                    // I can access the pose of FIXED_POSITION waypoints
					if (programNode.getConfig().getConfigType() == ConfigType.FIXED_POSITION) { 
						try {
						FixedPositionDefinedWaypointNodeConfig cfg = (FixedPositionDefinedWaypointNodeConfig)programNode.getConfig();
						Pose pose = cfg.getPose();
						} catch (Exception e) {}
					}

                    // I cannot find a function like this one to get the waypoint name
					String name = programNode.getName();
				};
		});

Is there a way to achieve this? Any guidance would be appreciated!