# How to get current robot pose? (InstallationNode) **URL:** \ **Category:** URCap Development\ **Tags:** installation-node\ **Created:** [December 12, 2018, 9:12am UTC](https://forum.universal-robots.com/t/how-to-get-current-robot-pose-installationnode/3290 "2018-12-12T09:12:13Z")\ **Posts on this page:** 16\ **Page:** 1
**Author:** ![anon44063275](https://avatars.discourse-cdn.com/v4/letter/a/df705f/32.png) [@anon44063275](https://forum.universal-robots.com/u/anon44063275)\ **Post date:** [December 12, 2018, 9:12am UTC](https://forum.universal-robots.com/t/how-to-get-current-robot-pose-installationnode/3290/1 "2018-12-12T09:12:13Z")
hi, how to get current robot pose? (InstallationNode) Thank you ---
**Author:** ![jbm](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jbm/32/614_2.png) [@jbm](https://forum.universal-robots.com/u/jbm)\ **Post date:** [December 12, 2018, 10:55am UTC](https://forum.universal-robots.com/t/how-to-get-current-robot-pose-installationnode/3290/2 "2018-12-12T10:55:25Z")
Use the RobotPositionCallback provided in the API, to let the user define a position. ---
**Author:** ![anon44063275](https://avatars.discourse-cdn.com/v4/letter/a/df705f/32.png) [@anon44063275](https://forum.universal-robots.com/u/anon44063275)\ **Post date:** [December 13, 2018, 2:07am UTC](https://forum.universal-robots.com/t/how-to-get-current-robot-pose-installationnode/3290/3 "2018-12-13T02:07:02Z")
Public interface Position getX(), getY(), getZ()? ---
**Author:** ![jbm](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jbm/32/614_2.png) [@jbm](https://forum.universal-robots.com/u/jbm)\ **Post date:** [December 13, 2018, 8:16am UTC](https://forum.universal-robots.com/t/how-to-get-current-robot-pose-installationnode/3290/4 "2018-12-13T08:16:41Z")
API `com.ur.urcap.api.domain.userinteraction` in the class `RobotPositionCallback` Check out the [Ellipse Example](https://github.com/UniversalRobots/EllipseSwing/blob/master/com.ur.urcap.examples.ellipseswing/src/main/java/com/ur/urcap/examples/ellipseswing/EllipseProgramNodeContribution.java#L108) which use this feature. ---
**Author:** ![anon44063275](https://avatars.discourse-cdn.com/v4/letter/a/df705f/32.png) [@anon44063275](https://forum.universal-robots.com/u/anon44063275)\ **Post date:** [December 14, 2018, 4:49am UTC](https://forum.universal-robots.com/t/how-to-get-current-robot-pose-installationnode/3290/5 "2018-12-14T04:49:44Z")
private InstallationAPIProvider apiProvider; private Box CalibrationSetBox(final InstallationAPIProvider apiProvider) { UserInterfaceAPI uiapi = apiProvider.getUserInterfaceAPI(); } My code is this. Is there a problem with this when I get an error? ---
**Author:** ![anon44063275](https://avatars.discourse-cdn.com/v4/letter/a/df705f/32.png) [@anon44063275](https://forum.universal-robots.com/u/anon44063275)\ **Post date:** [December 18, 2018, 2:15am UTC](https://forum.universal-robots.com/t/how-to-get-current-robot-pose-installationnode/3290/6 "2018-12-18T02:15:55Z")
Please confirm that my comment… Should not I use it like my code? ---
**Author:** ![jbm](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jbm/32/614_2.png) [@jbm](https://forum.universal-robots.com/u/jbm)\ **Post date:** [December 18, 2018, 8:40am UTC](https://forum.universal-robots.com/t/how-to-get-current-robot-pose-installationnode/3290/7 "2018-12-18T08:40:06Z")
The InstallationAPI is part of the Installation Node Contribution, while typically a Box is part of the View. So it seems that the domains are mixed up here. Is the approach used in the Ellipse Example linked not possible? ---
**Author:** ![anon44063275](https://avatars.discourse-cdn.com/v4/letter/a/df705f/32.png) [@anon44063275](https://forum.universal-robots.com/u/anon44063275)\ **Post date:** [December 18, 2018, 8:53am UTC](https://forum.universal-robots.com/t/how-to-get-current-robot-pose-installationnode/3290/8 "2018-12-18T08:53:28Z")
The Ellipse Example is an example of a program node. Is it possible to use the same thing in an installation node? ---
**Author:** ![jbm](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jbm/32/614_2.png) [@jbm](https://forum.universal-robots.com/u/jbm)\ **Post date:** [December 18, 2018, 9:02am UTC](https://forum.universal-robots.com/t/how-to-get-current-robot-pose-installationnode/3290/9 "2018-12-18T09:02:42Z")
Yes, same approach and split. Parts that are in the “SwingProgramNodeView” should be in “SwingInstallationNodeView”, parts that are in “ProgramNodeContribution” should be in “InstallationNodeContribution” ---
**Author:** ![anon44063275](https://avatars.discourse-cdn.com/v4/letter/a/df705f/32.png) [@anon44063275](https://forum.universal-robots.com/u/anon44063275)\ **Post date:** [December 20, 2018, 2:26am UTC](https://forum.universal-robots.com/t/how-to-get-current-robot-pose-installationnode/3290/10 "2018-12-20T02:26:19Z")
In the above method, you need to set the robot position while pressing the move tab and press ok. Is there any way to get the x, y coordinates of the current robot without doing so? ---
**Author:** ![jbm](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jbm/32/614_2.png) [@jbm](https://forum.universal-robots.com/u/jbm)\ **Post date:** [December 20, 2018, 5:04am UTC](https://forum.universal-robots.com/t/how-to-get-current-robot-pose-installationnode/3290/11 "2018-12-20T05:04:24Z")
Yes, take a look at this sample: > [@URCap Sample: getRobotData Real Time Client reader URCap](https://forum.universal-robots.com/t/sample-getrobotdata-real-time-client-reader-urcap/1195): > > getRobotData Real Time Client reader URCap Description of functionality: This URCap implements a new custom class, getRobotRealtimeData.class, that connects to the Real Time Client interface, and reads the message. The data from the Real Time Client is broken into the information it represents, and implements get-methods to read actual TCP pose, actual joint positions, joint temperatures, joint operation modes and the safety limited speed scaling percentage. You can add your own get-methods a… However note that this method is not recommended, unless explicitly necessary. General good practice on UX would include allowing the user to customize the position using the Move screen using the RobotPositionCallback. ---
**Author:** ![ellingsen.harald](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ellingsen.harald/32/1116_2.png) [@ellingsen.harald](https://forum.universal-robots.com/u/ellingsen.harald)\ **Post date:** [November 28, 2019, 1:52pm UTC](https://forum.universal-robots.com/t/how-to-get-current-robot-pose-installationnode/3290/12 "2019-11-28T13:52:43Z")
@jbm is there a java implementation of the rtde interface readily available? ---
**Author:** ![jbm](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jbm/32/614_2.png) [@jbm](https://forum.universal-robots.com/u/jbm)\ **Post date:** [November 28, 2019, 7:03pm UTC](https://forum.universal-robots.com/t/how-to-get-current-robot-pose-installationnode/3290/13 "2019-11-28T19:03:44Z")
Unfortunately not in the materials we currently provide. But there may be 3rd party repos out there 👍 ---
**Author:** ![m.nagel](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/m.nagel/32/2326_2.png) [@m.nagel](https://forum.universal-robots.com/u/m.nagel)\ **Post date:** [January 2, 2020, 6:02pm UTC](https://forum.universal-robots.com/t/how-to-get-current-robot-pose-installationnode/3290/14 "2020-01-02T18:02:03Z")
Hi Harald, maybe I can help you. I did some rtde prototypes in different dev-kits but none is a finished example that could be shared. At which point do you need support? best regards Mike ---
**Author:** ![fujikit](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/fujikit/32/6042_2.png) [@fujikit](https://forum.universal-robots.com/u/fujikit)\ **Post date:** [January 3, 2020, 9:35am UTC](https://forum.universal-robots.com/t/how-to-get-current-robot-pose-installationnode/3290/15 "2020-01-03T09:35:21Z")
I use RTDE Interface by accessing port 30004 for getting actual pose, speed and values of registers. I have no problem to get them on installation node by using RTDE ---
**Author:** ![system](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/system/32/1_2.png) [@system](https://forum.universal-robots.com/u/system)\ **Post date:** [January 27, 2021, 2:55am UTC](https://forum.universal-robots.com/t/how-to-get-current-robot-pose-installationnode/3290/16 "2021-01-27T02:55:52Z")
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