# Display Robot Pose in Node View

**URL:** https://forum.universal-robots.com/t/display-robot-pose-in-node-view/12593
**Category:** URCap Development
**Created:** [February 26, 2021, 9:52am UTC](https://forum.universal-robots.com/t/display-robot-pose-in-node-view/12593 "2021-02-26T09:52:26Z")
**Posts on this page:** 1
**Page:** 1

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### Author: ![jonas.winter](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jonas.winter/32/2374_2.png) [@jonas.winter](https://forum.universal-robots.com/u/jonas.winter)
#### Post date: [February 26, 2021, 9:52am UTC](https://forum.universal-robots.com/t/display-robot-pose-in-node-view/12593/1 "2021-02-26T09:52:26Z")

</div>

Hi,

**What I would like to achieve:**

I would like to visualize a robot pose to the user in the view of a custom program node. In the view of the regular waypoint a small image shows the robot in the respective pose:

 ![image](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/8/8c1fb39b0b615c3223abfefa6e410bfba6dfcd47.png)

**Question:**

Is it possible to include such an image in the view of a custom program/installation node?

**Related:**

As far as I can tell the example: [https://github.com/UniversalRobots/EllipseSwing/tree/master/com.ur.urcap.examples.ellipseswing/src/main/java/com/ur/urcap/examples/ellipseswing](https://github.com/UniversalRobots/EllipseSwing/tree/master/com.ur.urcap.examples.ellipseswing/src/main/java/com/ur/urcap/examples/ellipseswing) does not include such an image and I could not find a hint in the API documentation either.

This question seems related:

> [@Custom waypoint and the Graphics tab](https://forum.universal-robots.com/t/custom-waypoint-and-the-graphics-tab/10889):
>
> Hello! I am working on implementing a Waypoint like command in my URCap and I would like to show the robot pose that is stored in that command in the Graphics tab. The same way the standard UR Waypoint does when it is focused. Is this possible? Is there an UR interface I can implement to provide the pose info to Polyscope? Thank you, Marius

But as it explicitly talks about the “Graphics Tab” I think it is still a little bit different.