# Program is not finished. Complete the yellow program-nodes in order to run the program **URL:** \ **Category:** Java\ **Created:** [June 30, 2022, 11:52am UTC](https://forum.universal-robots.com/t/program-is-not-finished-complete-the-yellow-program-nodes-in-order-to-run-the-program/22355 "2022-06-30T11:52:10Z")\ **Posts on this page:** 7\ **Page:** 1
**Author:** ![anon30216221](https://avatars.discourse-cdn.com/v4/letter/a/f17d59/32.png) [@anon30216221](https://forum.universal-robots.com/u/anon30216221)\ **Post date:** [June 30, 2022, 11:52am UTC](https://forum.universal-robots.com/t/program-is-not-finished-complete-the-yellow-program-nodes-in-order-to-run-the-program/22355/1 "2022-06-30T11:52:10Z")
Hi all, I am currently making a URCap and am reaching the last stages of development. I am currently trying to test the URCap program node I made but when I insert one into the program tree I am met with this error when I try to run the program. As you can see below there are no empty fields or anything like that so I am confused as to why I am getting this popup. Does anyone know what’s causing this and how it could be fixed? ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/9/9755af27c5238cdff44c8b77b3161f89e12917d9.png) ---
**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\ **Post date:** [July 1, 2022, 1:04pm UTC](https://forum.universal-robots.com/t/program-is-not-finished-complete-the-yellow-program-nodes-in-order-to-run-the-program/22355/2 "2022-07-01T13:04:04Z")
I believe you need to override the “isDefined()” method. Take a look at some of the example URCaps ---
**Author:** ![anon30216221](https://avatars.discourse-cdn.com/v4/letter/a/f17d59/32.png) [@anon30216221](https://forum.universal-robots.com/u/anon30216221)\ **Post date:** [July 1, 2022, 8:04pm UTC](https://forum.universal-robots.com/t/program-is-not-finished-complete-the-yellow-program-nodes-in-order-to-run-the-program/22355/3 "2022-07-01T20:04:39Z")
I managed to solve it. Thank you! ---
**Author:** ![ndolesh](https://avatars.discourse-cdn.com/v4/letter/n/b77776/32.png) [@ndolesh](https://forum.universal-robots.com/u/ndolesh)\ **Post date:** [January 19, 2023, 2:41pm UTC](https://forum.universal-robots.com/t/program-is-not-finished-complete-the-yellow-program-nodes-in-order-to-run-the-program/22355/4 "2023-01-19T14:41:28Z")
Hello, could you please share what you did to solve it? I am facing the same problem. Never had this issue until today all of a sudden when I power on. ---
**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\ **Post date:** [January 19, 2023, 3:27pm UTC](https://forum.universal-robots.com/t/program-is-not-finished-complete-the-yellow-program-nodes-in-order-to-run-the-program/22355/5 "2023-01-19T15:27:08Z")
![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/e/e2d0391ee9cb7a19bd0494917648df979b4bca6a.png) You just need to override the isDefined() method and have it return true whenever you deem it completed. In this case, I return the datamodel value of the key “defined” which I set to true elsewhere in the contribution when a position has been set. That is the only criteria I need to call it done, so that’s when I set it. If you had needed multiple things, you would just add this in to the isDefined() method. Something like “return (model.get(criteria1, false) && model.get(criteria2, false))” In this way, both criteria1 and criteria2 would need to be true in order to turn the node white. ---
**Author:** ![ndolesh](https://avatars.discourse-cdn.com/v4/letter/n/b77776/32.png) [@ndolesh](https://forum.universal-robots.com/u/ndolesh)\ **Post date:** [January 19, 2023, 4:46pm UTC](https://forum.universal-robots.com/t/program-is-not-finished-complete-the-yellow-program-nodes-in-order-to-run-the-program/22355/6 "2023-01-19T16:46:23Z")
Thank you Eric. I was able to resolve it, I believe, by re-loading the installation settings together with the program settings. In the past I haven’t had to do that and I should have thought of that. I suppose perhaps the safety settings may have change, or the robot thought they changed. If you are Eric F. from CSU then we worked on projects together in the past… ---
**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\ **Post date:** [January 19, 2023, 6:05pm UTC](https://forum.universal-robots.com/t/program-is-not-finished-complete-the-yellow-program-nodes-in-order-to-run-the-program/22355/7 "2023-01-19T18:05:32Z")
Don’t think that was me haha. CSU doesn’t ring any bells. Glad you got it working though!