# How do I rename the Waypoint automatically after I implement the createMoveNode()?

**URL:** https://forum.universal-robots.com/t/how-do-i-rename-the-waypoint-automatically-after-i-implement-the-createmovenode/1244
**Category:** URCaps SDK
**Created:** [October 6, 2017, 3:29am UTC](https://forum.universal-robots.com/t/how-do-i-rename-the-waypoint-automatically-after-i-implement-the-createmovenode/1244 "2017-10-06T03:29:36Z")
**Posts on this page:** 5
**Page:** 1

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### Author: ![anon61092188](https://avatars.discourse-cdn.com/v4/letter/a/8e7dd6/32.png) [@anon61092188](https://forum.universal-robots.com/u/anon61092188)
#### Post date: [October 6, 2017, 3:29am UTC](https://forum.universal-robots.com/t/how-do-i-rename-the-waypoint-automatically-after-i-implement-the-createmovenode/1244/1 "2017-10-06T03:29:36Z")

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MoveNode mv=createMoveNode();  
root.addChild(mv)  
If I want to assign the WayPoint name as “StandByPose”,  
how to implement the code?

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### Author: ![anon46802796](https://avatars.discourse-cdn.com/v4/letter/a/67e7ee/32.png) [@anon46802796](https://forum.universal-robots.com/u/anon46802796)
#### Post date: [October 25, 2018, 3:07pm UTC](https://forum.universal-robots.com/t/how-do-i-rename-the-waypoint-automatically-after-i-implement-the-createmovenode/1244/2 "2018-10-25T15:07:22Z")

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HI,

From URCaps SDK 1.4 you can do something like:

```
moveNode = programNodeFactory.createMoveNodeNoTemplate();
moveNode.addChild(programNodeFactory.createWaypointNode("StandByPose"));

```

The `createMoveNodeNoTemplate` creates a `MoveNode` without waypoints.

My question then comes from getting the name: there’s a way to get a waypoint name from the `WaypointNodeConfig`?

Thank you, regards,

Matteo Timossi @anon46802796

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### Author: ![anon16416181](https://avatars.discourse-cdn.com/v4/letter/a/5f8ce5/32.png) [@anon16416181](https://forum.universal-robots.com/u/anon16416181)
#### Post date: [July 22, 2019, 8:24pm UTC](https://forum.universal-robots.com/t/how-do-i-rename-the-waypoint-automatically-after-i-implement-the-createmovenode/1244/3 "2019-07-22T20:24:54Z")

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FWIW, you can get the effective waypoint name by using the `TreeNode` returned by `addChild`:

```auto
moveNode = programNodeFactory.createMoveNodeNoTemplate();
TreeNode standbyPoseTreeNode = moveNode.addChild(programNodeFactory.createWaypointNode("StandByPose"));
standbyPoseTreeNode.getProgramNode().toString(); // This gets the actual waypoint name.

```

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### Author: ![je1](https://avatars.discourse-cdn.com/v4/letter/j/8dc957/32.png) [@je1](https://forum.universal-robots.com/u/je1)
#### Post date: [July 10, 2020, 9:56am UTC](https://forum.universal-robots.com/t/how-do-i-rename-the-waypoint-automatically-after-i-implement-the-createmovenode/1244/4 "2020-07-10T09:56:12Z")

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Hi,

I am using a Starter Package for SDK 1.10.0 and createMoveNodeNoTemplate() and createWaypointNode(string) are not recognized.

The error messages:

The method createMoveNodeNoTemplate() is undefined for the type ProgramNodeFactory

The method createWypointNode() in the type ProgramNodeFactory is not applicable for the arguments (String)

Are these not supported anymore? @ajp, @jbm, @mmi

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### Author: ![jbm](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jbm/32/614_2.png) [@jbm](https://forum.universal-robots.com/u/jbm)
#### Post date: [July 13, 2020, 7:37am UTC](https://forum.universal-robots.com/t/how-do-i-rename-the-waypoint-automatically-after-i-implement-the-createmovenode/1244/5 "2020-07-13T07:37:06Z")

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The mentioned methods are supported in URCap API 1.10.  
You can check in your POM-xml file, whether the URCap API version under dependencies is 1.10, or potentially a lower version which does not include support for these methods.