# Problem with getUserDefinedRobotPosition / joint positions

**URL:** <https://forum.universal-robots.com/t/problem-with-getuserdefinedrobotposition-joint-positions/2981>\
**Category:** Technical Questions\
**Tags:** bugs\
**Created:** [October 24, 2018, 10:02am UTC](https://forum.universal-robots.com/t/problem-with-getuserdefinedrobotposition-joint-positions/2981 "2018-10-24T10:02:57Z")\
**Posts on this page:** 1\
**Showing post:** 8

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**Author:** ![m.birkholz](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/m.birkholz/32/7084_2.png) [@m.birkholz](https://forum.universal-robots.com/u/m.birkholz)\
**Post date:** [July 9, 2019, 5:24pm UTC](https://forum.universal-robots.com/t/problem-with-getuserdefinedrobotposition-joint-positions/2981/8 "2019-07-09T17:24:50Z")

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The issue comes up when the tcp rotation is other than x,y,z,0,0,0. the api generated waypoints do have the tcp offset tho. See [Here](https://forum.universal-robots.com/t/set-tool-center-point-to-use-active-tcp-inside-custom-urcap-waypoint-node/1914). This was implemented a year ago and should work. To prevent it from calculating the false inverse kinematics we calculated the rotation manually (rx = -0.58,ry=0,rz=0). After that the bug no longer occurs tho it is **not possible to move the robot in the tool space** correctly😉

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