Hi, can someone help me how to calculate the current position of the robot (Tool Center Point)?
Do you want to know the TCP coordinates with regard to the base frame? That can be read in the Move tab if you pick Base as Feature.
Make sure you have set up the TCP of the robot. 
Or what do you want to calculate?
Hi, thanks for your reply! Actually, I want to position the robot multiple times, and after each positioning, I publish its position to Unity to display a sphere at the exact location in the real world visible through HoloLens. After each waypoint, I use get_forward_kin() to calculate the position of the waypoint and then publish it.
However, the sphere’s position doesn’t exactly match the position of the robot’s Wrist 3 or TCP. I’m not sure if my approach is correct or if I’m missing something. Any guidance would be greatly appreciated!
get_actual_tcp_pose() gives you the position of the TCP
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