# RTDE X\_q & X\_TCP\_pose

**URL:** <https://forum.universal-robots.com/t/rtde-x-q-x-tcp-pose/24655>\
**Category:** Robot Communication\
**Created:** [October 27, 2022, 1:10am UTC](https://forum.universal-robots.com/t/rtde-x-q-x-tcp-pose/24655 "2022-10-27T01:10:58Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![jay.carlson](https://avatars.discourse-cdn.com/v4/letter/j/ee7513/32.png) [@jay.carlson](https://forum.universal-robots.com/u/jay.carlson)\
**Post date:** [October 27, 2022, 1:10am UTC](https://forum.universal-robots.com/t/rtde-x-q-x-tcp-pose/24655/1 "2022-10-27T01:10:58Z")

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Hello, I am having problems with getting the actual and target \_q and \_TCP\_pose information. Creating an OutputRecipe that uses them, as in:

actual\_q  
target\_q  
actual\_TCP\_pose  
target\_TCP\_pose

Then later reading those entries, always returns the LAST ENTRY (in this case target\_TCP\_pose) for ALL those entries. Trying to figure out what is going on, I have mixed up the order of the entries, interspersed other entries in between those entries (e.g. timestamp, runtime\_state, &c) – no matter what I try, those entries always read out as the last entry of those four.

I have made a work-around right now by outputting all those entries as a series of output\_double\_register\_X from my URL program.

Any suggestions, ideas as to what is going on?