# Waypoint-like node in URCaps

**URL:** <https://forum.universal-robots.com/t/waypoint-like-node-in-urcaps/6724>\
**Category:** Java\
**Created:** [March 19, 2020, 8:41am UTC](https://forum.universal-robots.com/t/waypoint-like-node-in-urcaps/6724 "2020-03-19T08:41:28Z")\
**Posts on this page:** 1\
**Showing post:** 5

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**Author:** ![anon65613222](https://avatars.discourse-cdn.com/v4/letter/a/3ec8ea/32.png) [@anon65613222](https://forum.universal-robots.com/u/anon65613222)\
**Post date:** [March 20, 2020, 5:08pm UTC](https://forum.universal-robots.com/t/waypoint-like-node-in-urcaps/6724/5 "2020-03-20T17:08:25Z")

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Then you should have a look at @jbm s example

> **[EllipseSwing/com.ur.urcap.examples.ellipseswing/src/main/java/com/ur/urcap/examp...](https://github.com/UniversalRobots/EllipseSwing/tree/master/com.ur.urcap.examples.ellipseswing/src/main/java/com/ur/urcap/examples/ellipseswing)**
>
> master/com.ur.urcap.examples.ellipseswing/src/main/java/com/ur/urcap/examples/ellipseswing

There he uses RobotMovementCallback and [getUserDefinedRobotPosition](https://plus.universal-robots.com/apidoc/63131/com/ur/urcap/api/domain/userinteraction/UserInteraction.html#getUserDefinedRobotPosition-com.ur.urcap.api.domain.userinteraction.RobotPositionCallback-)

I haven’t looked how the interface he did looks, but a lot of things I bet he has there.

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