# Get\_actual\_tcp\_pose() through URCap

**URL:** <https://forum.universal-robots.com/t/get-actual-tcp-pose-through-urcap/25980>\
**Category:** URCap Development\
**Created:** [January 5, 2023, 12:36pm UTC](https://forum.universal-robots.com/t/get-actual-tcp-pose-through-urcap/25980 "2023-01-05T12:36:00Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![anon95296053](https://avatars.discourse-cdn.com/v4/letter/a/ac8455/32.png) [@anon95296053](https://forum.universal-robots.com/u/anon95296053)\
**Post date:** [January 5, 2023, 12:36pm UTC](https://forum.universal-robots.com/t/get-actual-tcp-pose-through-urcap/25980/1 "2023-01-05T12:36:00Z")

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Hi Everybody,

I’ve created a simple, doing-nothing-for-now, urcap which have a button in it.  
Now, I want so send a get\_actual\_tcp\_pose() command through an open socket to my server whenever the user is pressing the button.  
How can I do that?

using UR5E, with Polyscope 5.12  
the robot is a client, my cpp software is the server.

Thanks!  
Elad.