# Setpoint to a waypoint

**URL:** <https://forum.universal-robots.com/t/setpoint-to-a-waypoint/636>\
**Category:** Java\
**Created:** [March 20, 2017, 11:01am UTC](https://forum.universal-robots.com/t/setpoint-to-a-waypoint/636 "2017-03-20T11:01:10Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![anon12495347](https://avatars.discourse-cdn.com/v4/letter/a/779978/32.png) [@anon12495347](https://forum.universal-robots.com/u/anon12495347)\
**Post date:** [March 20, 2017, 11:01am UTC](https://forum.universal-robots.com/t/setpoint-to-a-waypoint/636/1 "2017-03-20T11:01:10Z")

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I want to do like this  
 ![](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/1X/c45c7d92b216ed48e57e04e82e98e0523154557c.png)  
does anyone have an idea  
or any other way

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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:** [March 20, 2017, 1:16pm UTC](https://forum.universal-robots.com/t/setpoint-to-a-waypoint/636/2 "2017-03-20T13:16:00Z")

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@anon12495347

It is currently not supported to add waypoint nodes which are already assigned with a position.  
Currently the API rather support generating a “template” for how the user e.g. should build their program tree around your node.

If you already have a desired position, you could just add the waypoint target directly in the contributed script.

If you would like to have functionality, that cannot be solved by the above solutions, please consider creating a feature request elaborating on the use cases you have. Post this in the Feature Request category.

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**Author:** ![anon86073413](https://avatars.discourse-cdn.com/v4/letter/a/65b543/32.png) [@anon86073413](https://forum.universal-robots.com/u/anon86073413)\
**Post date:** [February 4, 2021, 8:04am UTC](https://forum.universal-robots.com/t/setpoint-to-a-waypoint/636/3 "2021-02-04T08:04:10Z")

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Hey @jbm !  
Is this still not supported?

Thanks,  
Andor

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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:** [February 4, 2021, 9:48am UTC](https://forum.universal-robots.com/t/setpoint-to-a-waypoint/636/4 "2021-02-04T09:48:07Z")

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Sure, this is supported in the API today.  
Check out the `com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode` package in the [API Reference](https://plus.universal-robots.com/urcap-basics/api-reference-docs/).

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/f/f456bd32eccb72ee0c4534048e35e9d4574f398d.png)

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**Author:** ![anon86073413](https://avatars.discourse-cdn.com/v4/letter/a/65b543/32.png) [@anon86073413](https://forum.universal-robots.com/u/anon86073413)\
**Post date:** [February 4, 2021, 1:00pm UTC](https://forum.universal-robots.com/t/setpoint-to-a-waypoint/636/5 "2021-02-04T13:00:03Z")

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And is possible to get the position from a waypoint that has already been set by the user with the Robot-Arm?  
Throughout a ProgramNodeVisitor perhaps?  
Would be very usefull in my plan discribed here:

> [@Auto-generate turning point WaypointNodes](https://forum.universal-robots.com/t/auto-generate-turning-point-waypointnodes/11820):
>
> Hey Forum! I’m trying to implement the following: The welder Cobot would need to go around a rectangle object, and i’m trying to auto generate the turning movement of the Robot, so that the operator only needs to set the 4 edges of the rectangle. I think i’m able to calculate the Waypoints i need with get\_actual\_tcp\_pose() and than alter it to get the turned point, and set them in varieable positions but i’m only able to do this after the opertor set the 4 point i need. When in the Java prog…