> ## Documentation Index
> Fetch the complete documentation index at: https://docs.cyberwave.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Waypoints on the Map

> Drop route stops onto the satellite map, including while a simulation or live session is running.

<Note>This page is a stub. A human will curate and expand it before publishing.</Note>

## What this is for

A **waypoint** is a named stop on a route. A mission built with the **Move Twin**
node walks them in order.

Waypoints can be placed directly on the georeferenced satellite map, and unlike
the rest of the scene they can be placed in **Simulate** and **Live** as well as
**Edit**. So you can watch a run, see somewhere the robot should also visit, and
add it without leaving the session.

Placing waypoints works with or without a map. To place them *on the satellite
map* you need a
[geo reference](/feature-reference/environment-editor/geo-reference) and the
basemap turned on — without a geo reference the environment has no place on
Earth, so there is no map to show. Right-clicking the ground in the 3D scene
works either way.

## Add a waypoint

1. Turn on the basemap from the header (optional — see above).
2. Right-click the ground where you want the stop.
3. Choose **Add waypoint**.

The new waypoint opens in the right panel, where you can rename it, group it into
a collection, and adjust its position. When the environment has a geo reference
the panel also shows the waypoint's latitude and longitude underneath the
position fields.

Drag an existing waypoint's gizmo to move it. This works in Simulate and Live
too.

## While a mission is running

**Waypoints are locked for the duration of a run.** Adding, deleting or dragging
one is unavailable while a workflow is walking the route, and the disabled
**Add waypoint** entry names the run that is holding it.

This is deliberate. A route that changed mid-mission would send the robot
somewhere you never approved, and the run's arrival records would refer to stops
that no longer exist. Wait for the run to finish, or cancel it, then edit.

Renaming a workflow's waypoints is not the same as changing the route — the
mission holds waypoint identities, so a rename is safe once the run ends.

## Collect data along a route

On a **Move Twin** node:

| Option                  | What you get                                          |
| ----------------------- | ----------------------------------------------------- |
| Take picture on arrival | One image per waypoint, attached to the run           |
| Pause seconds           | Dwell time at each stop before the workflow continues |
| Per-waypoint duration   | How long the move to each stop should take            |

Bracket the mission with **Recorder** nodes to capture audio or video for the
whole run.

Captures and recordings appear on the run in the workflow execution detail. Each
waypoint the robot reaches is also logged, so you can see the route it actually
walked in the environment's **Events** tab.