# Getting the pose time stamped from the robot

**URL:** <https://forum.universal-robots.com/t/getting-the-pose-time-stamped-from-the-robot/34983>\
**Category:** Robot Communication\
**Created:** [July 1, 2024, 7:30am UTC](https://forum.universal-robots.com/t/getting-the-pose-time-stamped-from-the-robot/34983 "2024-07-01T07:30:13Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![oussama.abdulhay](https://avatars.discourse-cdn.com/v4/letter/o/7c8e57/32.png) [@oussama.abdulhay](https://forum.universal-robots.com/u/oussama.abdulhay)\
**Post date:** [July 1, 2024, 7:30am UTC](https://forum.universal-robots.com/t/getting-the-pose-time-stamped-from-the-robot/34983/1 "2024-07-01T07:30:13Z")

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Hello,

I am using the ur\_rtde python package to communicate and move the UR10 robot. However `getActualTCPPose` () doesnt give the time in which the pose was captured. Is their any way to have access to this data.

I am aware of `getTimestamp` () which give me access to the clock within the robot but I still need the exact moment the reading was registered for the pose.

Thank you.

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**Author:** ![tizh](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/tizh/32/4176_2.png) [@tizh](https://forum.universal-robots.com/u/tizh)\
**Post date:** [July 1, 2024, 7:58am UTC](https://forum.universal-robots.com/t/getting-the-pose-time-stamped-from-the-robot/34983/2 "2024-07-01T07:58:16Z")

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through UR’s TCP/IP server, like primary, realtime and rtde, we can only get system timestamp.

possible solution could be get the time from Linux system, like the log file. Which i have no idea how to get it done.

can anyone help? 😀

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**Author:** ![oussama.abdulhay](https://avatars.discourse-cdn.com/v4/letter/o/7c8e57/32.png) [@oussama.abdulhay](https://forum.universal-robots.com/u/oussama.abdulhay)\
**Post date:** [July 1, 2024, 8:10am UTC](https://forum.universal-robots.com/t/getting-the-pose-time-stamped-from-the-robot/34983/3 "2024-07-01T08:10:41Z")

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I am using ROS and recording other camera related data (mounted on the UR), the hardware timestamp of the pose is essential to sync the messages together.