# \#pose\_inv

**URL:** https://forum.universal-robots.com/tag/pose-inv/26.md

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## [How to get tcp pose in feature coordinates?](https://forum.universal-robots.com/t/how-to-get-tcp-pose-in-feature-coordinates/495)

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**Author:** [@anna](https://forum.universal-robots.com/u/anna)\
**Replies:** 4\
**Last updated:** [February 27, 2017, 4:06pm UTC](https://forum.universal-robots.com/t/how-to-get-tcp-pose-in-feature-coordinates/495 "2017-02-27T16:06:14Z")

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The script command get\_actual\_tcp\_pose() defaults to base feature coordinates. I want to get TCP coordinates inside a plane feature that I have defined (I need the x and y coordinates as offsets for a variable waypoint …