# Get\_inverse\_kin

**URL:** <https://forum.universal-robots.com/t/get-inverse-kin/21515>\
**Category:** URScript\
**Created:** [May 24, 2022, 11:09pm UTC](https://forum.universal-robots.com/t/get-inverse-kin/21515 "2022-05-24T23:09:30Z")\
**Posts on this page:** 1\
**Page:** 1

<div class="post-metadata">

**Author:** ![anon34841931](https://avatars.discourse-cdn.com/v4/letter/a/8baadc/32.png) [@anon34841931](https://forum.universal-robots.com/u/anon34841931)\
**Post date:** [May 24, 2022, 11:09pm UTC](https://forum.universal-robots.com/t/get-inverse-kin/21515/1 "2022-05-24T23:09:30Z")

</div>

Hi,

I am trying to figure out how to use get\_inverse\_kin using the RTDE code from this past forum topic: [RTDE - get\_inverse\_kin()](https://forum.universal-robots.com/t/rtde-get-inverse-kin/11611)

This is the code that I have right now:  
def get\_inverse(self, pose, wait=True):  
if not self.robotConnector.RTDE.isRunning():  
self.\_\_logger.error(‘RTDE need to be running to use get\_inv\_kin()’)  
return False

```
#store values of pose
self.robotConnector.RTDE.setData('input_double_register_0', pose[0])
self.robotConnector.RTDE.setData('input_double_register_1', pose[1])
self.robotConnector.RTDE.setData('input_double_register_2', pose[2])
self.robotConnector.RTDE.setData('input_double_register_3', pose[3])
self.robotConnector.RTDE.setData('input_double_register_4', pose[4])
self.robotConnector.RTDE.setData('input_double_register_5', pose[5])

self.robotConnector.RTDE.sendData()

prog = '''def ur_inverse_kin():
while True:
    angles = get_inverse_kin(p{pose}) 
    write_output_float_register(0,angles[0])
    write_output_float_register(1,angles[1])
    write_output_float_register(2,angles[2])
    write_output_float_register(3,angles[3])
    write_output_float_register(4,angles[4])
    write_output_float_register(5,angles[5])       
end  

```

end  
‘’’  
programString = prog.format(\*\*locals())

```
self.robotConnector.RealTimeClient.SendProgram(programString)
if wait:
    self.waitRobotIdleOrStopFlag()

```

and then I run it from my main. The problem is it only prints the current pose and joint but does not give me the inverse kinematics as an output on my laptop. I will appreciate any help!

Thanks