Telekinesis Agentic Skill Library

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Get Target Waypoint ​

SUMMARY

Get Target Waypoint returns the current target waypoint of the active motion command as a Cartesian pose vector [x, y, z, rx, ry, rz].

This reflects the instantaneous setpoint being tracked by the controller, not the final goal pose.

SUPPORTED ROBOTS

This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.

The Skill ​

python
waypoint = robot.get_target_waypoint()

The Code ​

Example: Read and Log Target Waypoint ​

Connect to the robot and read the current target waypoint.

python
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots

robot_ip = "192.168.1.2"  # replace with your robot's IP

robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)

waypoint = robot.get_target_waypoint()
logger.success(f"Target waypoint: {waypoint}")

# Disconnect
robot.disconnect()

The Explanation of the Code ​

get_target_waypoint reads the target_TCP_pose field from the RTDE data stream, which represents the controller's current reference pose for the ongoing motion. During a move, this value advances along the planned path toward the goal. When the robot is stationary, it equals the current TCP pose.

How to Tune the Parameters ​

This skill takes no input parameters.

Return Value ​

TypeDescription
list[float]Target Cartesian pose [x, y, z, rx, ry, rz]. Position in meters, orientation in degrees.

Where to Use the Skill ​

  • Motion tracking — Monitor the controller's reference pose during a move to visualize path progress
  • Blending verification — Confirm waypoint blending is working as expected between sequential moves

When Not to Use the Skill ​

Do not use Get Target Waypoint when: