# Problems with Get\_actual\_joint\_positions()

**URL:** <https://forum.universal-robots.com/t/problems-with-get-actual-joint-positions/3081>\
**Category:** URScript\
**Created:** [November 12, 2018, 12:34am UTC](https://forum.universal-robots.com/t/problems-with-get-actual-joint-positions/3081 "2018-11-12T00:34:10Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![jess\_glez](https://avatars.discourse-cdn.com/v4/letter/j/e95f7d/32.png) [@jess\_glez](https://forum.universal-robots.com/u/jess_glez)\
**Post date:** [November 12, 2018, 12:34am UTC](https://forum.universal-robots.com/t/problems-with-get-actual-joint-positions/3081/1 "2018-11-12T00:34:10Z")

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Hi, I am doing a program for a UR10 CB series, and i want to compare the position of the joints with some joint positions that i meet, but, when i run the command get\_actual\_joint\_positions() the result that it gave me its diferent that the joint actual position if i convert the position in polyscope to rads, for example:

Now i have the follow positions at the joints:

![Capture](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/1X/eff0277c6e946a9be45df39fb40b5f3f1e6ed4e3.png)

i copy that to a variable using the command d2r like i show in the follow image:

![Capture2](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/1X/9bce44e2300d3d12acf69ca0c29535ace6757fbb.png)

And i use the get\_actual\_joint\_positions()

![Capture2](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/1X/d8f507dbeca87a1d6c6ef320c7970d0ee03f0ffa.png)

And the result of this is:

![Capture3](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/1X/9d67b9c5e118f0f446c54897831d524f17551ab6.png)

why is diferent the result? is there a solution? and i would want to know if is there a way to convert from a Pose to a Array of Joints positions, or from an array of joint position to a Pose.

Regards

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<div class="post-metadata">

**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 12, 2018, 8:00am UTC](https://forum.universal-robots.com/t/problems-with-get-actual-joint-positions/3081/2 "2018-11-12T08:00:17Z")

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The URScript functions:

`joints = get_inverse_kin(pose, ...)`  
`pose = get_forward_kin(joints, ...)`

These convert from a Joint Vector to Pose, and vice versa.  
Refer to the URScript Manual for the correct syntax.