# How to create variables from pose vector components

**URL:** <https://forum.universal-robots.com/t/how-to-create-variables-from-pose-vector-components/20233>\
**Category:** Technical Questions\
**Created:** [March 29, 2022, 9:59pm UTC](https://forum.universal-robots.com/t/how-to-create-variables-from-pose-vector-components/20233 "2022-03-29T21:59:54Z")\
**Posts on this page:** 1\
**Showing post:** 3

<div class="post-metadata">

**Author:** ![anon7597289](https://avatars.discourse-cdn.com/v4/letter/a/cdc98d/32.png) [@anon7597289](https://forum.universal-robots.com/u/anon7597289)\
**Post date:** [April 19, 2022, 1:55pm UTC](https://forum.universal-robots.com/t/how-to-create-variables-from-pose-vector-components/20233/3 "2022-04-19T13:55:06Z")

</div>

Thanks for the reply Michael! I tried using your techinque but I am still running into issues.

I just posted here with the larger problem that I am dealing with on this program:

> [@PnP loop that makes a new waypoint each time off a get\_actual\_tcp\_pose](https://forum.universal-robots.com/t/pnp-loop-that-makes-a-new-waypoint-each-time-off-a-get-actual-tcp-pose/20679):
>
> I have a somewhat complex PnP where I am trying to get my robot to pick tubes one at a time from a horizontal stack of tubes lying in a V-groove. The robot is supposed to go to Waypoint\_1 above the tube grab point, move up and down in Z until a sensor indicates that a tube has been grabbed, set a new waypoint at the moment it gets the input from the sensor ( grabpose≔get\_actual\_tcp\_pose() ). After the robot does some more movement operations to get the tube to the next cell, it is supposed to co…

Cheers!

---

_[View the full topic](https://forum.universal-robots.com/t/how-to-create-variables-from-pose-vector-components/20233)._