# Plotting for path validation

**URL:** <https://forum.universal-robots.com/t/plotting-for-path-validation/24907>\
**Category:** URScript\
**Created:** [November 9, 2022, 7:40pm UTC](https://forum.universal-robots.com/t/plotting-for-path-validation/24907 "2022-11-09T19:40:12Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![anon6947511](https://avatars.discourse-cdn.com/v4/letter/a/ecccb3/32.png) [@anon6947511](https://forum.universal-robots.com/u/anon6947511)\
**Post date:** [November 9, 2022, 7:40pm UTC](https://forum.universal-robots.com/t/plotting-for-path-validation/24907/1 "2022-11-09T19:40:12Z")

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Hi,

I’m currently working with a UR3e robot and programming in URScript for a robotics educational project.

I wrote a program where the robot follows a bezier curve, i validated the path in matlab with the ecuation but i would like to compare the plot from matlab with a plot generated by polyscope.

Is that possible to plot the path of the robot while the program is running (or after)? so i can compare it.

 ![FigureMatlab](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/2X/7/707859c1183f7b7c47b33d2e24ad551c077c3f6b.jpeg)

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<div class="post-metadata">

**Author:** ![m.hammerton](https://avatars.discourse-cdn.com/v4/letter/m/b2d939/32.png) [@m.hammerton](https://forum.universal-robots.com/u/m.hammerton)\
**Post date:** [November 10, 2022, 8:03am UTC](https://forum.universal-robots.com/t/plotting-for-path-validation/24907/2 "2022-11-10T08:03:18Z")

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valeleleon,  
You can continually get the Robot TCP positional data in a number of ways.  
You could use a Thread and script command get\_actual\_tcp\_pose() to write the values into a List.  
see UR Script manual [Universal Robots - Script manual - e-Series - SW 5.11](https://www.universal-robots.com/download/manuals-e-series/script/script-manual-e-series-sw-511/)

or you could use RTDE to get the Robot TCP position through an external PC TCP/IP connection.  
[https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/](https://www.universal-robots.com/articles/ur/interface-communication/real-time-data-exchange-rtde-guide/)

Hope this helps.