# Rx, Ry and Rz in Real Time Communication **URL:** \ **Category:** Robot Communication\ **Created:** [August 9, 2017, 8:34pm UTC](https://forum.universal-robots.com/t/rx-ry-and-rz-in-real-time-communication/1050 "2017-08-09T20:34:25Z")\ **Posts on this page:** 5\ **Page:** 1
**Author:** ![Felipe\_Nascimento](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/felipe_nascimento/32/452_2.png) [@Felipe\_Nascimento](https://forum.universal-robots.com/u/Felipe_Nascimento)\ **Post date:** [August 9, 2017, 8:34pm UTC](https://forum.universal-robots.com/t/rx-ry-and-rz-in-real-time-communication/1050/1 "2017-08-09T20:34:25Z")
Hey there! Simple question but I couldn’t find the answer. When I use the Realtime Interface (port 30003), I can get the _Tool Vector Actual_ and the _Tool Vector Target_ Positions, which gives me the 6d Vector (x, y, z, rx, ry, rz). The problem is, the rx, ry and rz that I receive are not equal or even similar to the ones I can see in the Interface. What exactly they represent? Is there a way to get the RPY orientation of the tool via the Realtime Interface TCP/IP? Example of what I mean In the Interface (relative to base): ``` x = 573.32 mm y = -377.45 mm z = 110.4 mm Rotation Vector (rad) Rx = 1.656 Ry = -3.893 Rz = -1.859 RPY (rad) Rx = 0.154 Ry = 1.485 Rz = 0.973 ``` The Tool vector I receive ``` x = 0.5733132233401346 y = -0.37745289619949307 z = 0.11039638592902691 Rx = -0.5957311311260479 Ry = 1.4005856604020908 Rz = 0.6689512228953933 ``` The (x, y, z) is ok, but I can’t figure the (rx, ry, rz). Thanks in advance. ---
**Author:** ![mmi](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mmi/32/691_2.png) [@mmi](https://forum.universal-robots.com/u/mmi)\ **Post date:** [August 14, 2017, 9:50am UTC](https://forum.universal-robots.com/t/rx-ry-and-rz-in-real-time-communication/1050/2 "2017-08-14T09:50:51Z")
Can it be that you’re decoding angles incorrectly? It should correspond to what you see on the move tab, and value returned by get\_actual\_tcp\_pose(). rx,ry,rz are angles relative to base feature corrected by tcp rotation. So if tcp rotation offset == (0, 0, 0), then (rx, ry) == (0, 0) when tool flage is pointing in base z-axis direction. ---
**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:** [August 14, 2017, 3:23pm UTC](https://forum.universal-robots.com/t/rx-ry-and-rz-in-real-time-communication/1050/3 "2017-08-14T15:23:04Z")
Also check out [this topic](http://forum.universal-robots.com/t/discrepancy-of-pose-from-30002-and-pendant-reading/238). ---
**Author:** ![Felipe\_Nascimento](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/felipe_nascimento/32/452_2.png) [@Felipe\_Nascimento](https://forum.universal-robots.com/u/Felipe_Nascimento)\ **Post date:** [August 15, 2017, 7:47pm UTC](https://forum.universal-robots.com/t/rx-ry-and-rz-in-real-time-communication/1050/4 "2017-08-15T19:47:28Z")
I checked the topic and it looks like the position is the same but with other axis-angle representation (like the topic suggested, but in this case its not just a pi rotation), but when I command the robot to move (with _movel_) to the position returned by the RTDE, it says it’s a singularity. The same applies when I try to apply the angles direct in the pendant. It’s a reacheble position exactly where it’s supposed to be in the pendant interface, but when I set it to move, it says it’s a singularity. For now, I’ll try to work with the joint angles instead. ---
**Author:** ![SonglinCai](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/songlincai/32/478_2.png) [@SonglinCai](https://forum.universal-robots.com/u/SonglinCai)\ **Post date:** [August 18, 2017, 9:18pm UTC](https://forum.universal-robots.com/t/rx-ry-and-rz-in-real-time-communication/1050/5 "2017-08-18T21:18:21Z")
Singularity means robot close to its kinematic singularity rather than they cannot reach it actually. Robot vector is not unique to a given reorientation so although they have different appearances, they are indeed the same. Check out via wiki on rotation vector.