# Retrieve Joint Positions in RobotPositionCallback

**URL:** <https://forum.universal-robots.com/t/retrieve-joint-positions-in-robotpositioncallback/15547>\
**Category:** Java\
**Created:** [July 20, 2021, 7:00pm UTC](https://forum.universal-robots.com/t/retrieve-joint-positions-in-robotpositioncallback/15547 "2021-07-20T19:00:26Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![anon32693620](https://avatars.discourse-cdn.com/v4/letter/a/6a8cbe/32.png) [@anon32693620](https://forum.universal-robots.com/u/anon32693620)\
**Post date:** [July 20, 2021, 7:00pm UTC](https://forum.universal-robots.com/t/retrieve-joint-positions-in-robotpositioncallback/15547/1 "2021-07-20T19:00:26Z")

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Hello, I am looking to retrieve the actual joint positions of a waypoint in the “RobotPositionCallback” but the joint positions I receive from “PositionParameters.getJointPositions” are different from what a normal waypoint node would provide or at least shown in URSim.  
EX: Pose in the same exact spot.  
Waypoint shows: [-1.6006999999999998, -1.7271, -2.2029999999999994, -0.8079999999999998, 1.5951, -0.030999999999999694]  
Callback gives: [4.682485, 4.556085, 4.080185, 5.475185, 1.5951, 6.252185]  
I believe this is because it takes into account the TCP but is there another way to retrieve the correct Joint Positions when the user clicks ok? or is there something I am missing to get the correct values?  
I am using API version 1.10.0