Get Target TCP Pose

SUMMARY

Get Target TCP Pose returns the controller-commanded TCP pose [x, y, z, rx, ry, rz] - position in meters, orientation as Euler XYZ in degrees, expressed in the robot base frame.

Reads from the manipulator state - live controller setpoint when connected, mirrors the cached tcp_pose offline.

SUPPORTED ROBOTS

Available on all supported manipulators in offline mode. Live hardware readings are currently supported only on Universal Robots.

UNITS

Returns target TCP pose [x, y, z, rx, ry, rz] - translation in meters, orientation in Euler XYZ degrees.

The Skill

pose = robot.get_target_tcp_pose()

The Code

"""
Read target (commanded) TCP pose example for the Synapse SDK.

Returns the target/commanded TCP pose ``[x, y, z (m), rx, ry, rz (deg)]``.
With ``--ip``, reads live hardware state. Without ``--ip``, reads from the
internal commanded cache (no connection made) and logs a warning.

Illustrated using Universal Robots (UR10e), supported on all robots.

Usage:
    python get_target_tcp_pose.py [--ip <ROBOT_IP>]
"""

import argparse
from loguru import logger

from telekinesis.synapse.robots.manipulators import universal_robots


def main(ip: str | None = None):
    """Log the current target TCP pose [m, deg]."""

    robot = universal_robots.UniversalRobotsUR10E()

    if ip is not None:
        robot.connect(ip=ip)
    else:
        logger.warning(
            "No --ip provided; reading offline commanded-cache state, "
            "not live hardware readings."
        )

    try:
        logger.success(f"target_tcp_pose [m, deg]: {robot.get_target_tcp_pose()}")
    finally:
        if ip is not None:
            robot.disconnect()


if __name__ == "__main__":
    parser = argparse.ArgumentParser(description="Read target TCP pose Synapse example")
    parser.add_argument("--ip", type=str, default=None, help="UR robot IP address (optional)")
    args = parser.parse_args()

    main(ip=args.ip)

The Explanation of the Code

from telekinesis.synapse.robots.manipulators import universal_robots

robot = universal_robots.UniversalRobotsUR10E()

Create the robot. UR10e is used here for illustration; the same pattern works for every supported brand.

if ip is not None:
    robot.connect(ip=ip)

Connect to the robot at the given IP. When no --ip is passed, no connection is made and the getter returns from the offline commanded-cache (mirrors tcp_pose) instead of the live controller setpoint.

logger.success(f"target_tcp_pose [m, deg]: {robot.get_target_tcp_pose()}")

Read the controller-commanded TCP pose [x, y, z, rx, ry, rz] in the base frame. When connected this is the live setpoint, distinct from the measured get_cartesian_pose; offline it mirrors the cached commanded pose.

finally:
    if ip is not None:
        robot.disconnect()

Always release the controller link in a finally block so a failure mid-read still cleans up the connection.

Return Value

Type	Description
list[float]	Controller-commanded TCP pose [x, y, z, rx, ry, rz] in the robot base frame. Position in meters, orientation as Euler XYZ in degrees. Offline: same as the cached tcp_pose.

Where to Use the Skill

• Cartesian tracking error - Compare against measured pose from Get Cartesian Pose.
• Motion monitoring - Observe the commanded TCP trajectory in real time.

When Not to Use the Skill

• You need the measured TCP pose - use Get Cartesian Pose instead.