# How can I get TCP pose ( all 6 axis) using Socket or RTDE?

**URL:** <https://forum.universal-robots.com/t/how-can-i-get-tcp-pose-all-6-axis-using-socket-or-rtde/2774>\
**Category:** Robot Communication\
**Created:** [September 20, 2018, 10:39am UTC](https://forum.universal-robots.com/t/how-can-i-get-tcp-pose-all-6-axis-using-socket-or-rtde/2774 "2018-09-20T10:39:36Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![anon45898917](https://avatars.discourse-cdn.com/v4/letter/a/e68b1a/32.png) [@anon45898917](https://forum.universal-robots.com/u/anon45898917)\
**Post date:** [September 20, 2018, 10:39am UTC](https://forum.universal-robots.com/t/how-can-i-get-tcp-pose-all-6-axis-using-socket-or-rtde/2774/1 "2018-09-20T10:39:36Z")

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According to what I have googled, there are three ways to get tcp pose on a remote computer.

- Port 30003 is constantly broadcasting TCP Pose. I am unable to find the Rx Ry Rz , though I can find X Y and Z.  
[http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/knowledge-base/client-interfaces-cartesian-matlab-data/](http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/knowledge-base/client-interfaces-cartesian-matlab-data/)

- Using Client Server setup : [http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/knowledge-base/script-client-server/](http://www.zacobria.com/universal-robots-knowledge-base-tech-support-forum-hints-tips/knowledge-base/script-client-server/)

- Using RTDE.

Question :Can some one elaborate on how to get tcp pose using RTDE ?  
Request :Can someone help with code to get TCP pose on remote PC ?

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**Author:** ![ajp](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ajp/32/471_2.png) [@ajp](https://forum.universal-robots.com/u/ajp)\
**Post date:** [September 21, 2018, 3:24am UTC](https://forum.universal-robots.com/t/how-can-i-get-tcp-pose-all-6-axis-using-socket-or-rtde/2774/2 "2018-09-21T03:24:04Z")

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RTDE is the preferred method, but the samples are currently only available for Python, what language are you using? Have you tried out the samples in the attachment at the bottom of this page?

> **[Real-Time Data Exchange (RTDE) Guide — PolyScope Tutorials documentation](https://docs.universal-robots.com/tutorials/communication-protocol-tutorials/rtde-guide.html)**

I think many of the articles on that zacrobria site are out of date. If you can extract the xyz from the real time port, the rx ry rz shouldn’t be much harder, but you may find the bytestream format has changed since that article was written. You can find an updated (but not completely up to date) list of the values in the realtime byte stream in the spreadsheet at the bottom of this page:

> **[Remote Control Via TCP/IP - 16496](https://www.universal-robots.com/articles/ur/interface-communication/remote-control-via-tcpip/)**