# MoveIt: get current desired end effector pose

Hello there,

I am trying to get access to the current desired end effector's transform output by MoveIt (actually my goal is to compute the tracking error). My feeling is that I need to do the following steps:

- Get the desired joint angles from MoveIt
- Parse the urdf (to build a direct geometric model), or is there a package which computes the direct geometric model of the robot out of its urdf?
- Compute the end effector's desired transform from the geometric model and the desired joint angles

Am I right?

Now a question more related to code:

I guess the desired joint angles are provided by moveit in topic **/arm_controller/follow_joint_trajectory/goal**, no? This topic is of type `control_msgs/FollowJointTrajectoryActionGoal`

(api in ROS Kinetic). I also guess the trajectory is in field **goal.trajectory.points.positions**. fields **points** and **positions** are arrays: do you know how I should interpret them? Also does the fact that these are arrays mean that the whole desired trajectory is sent at one and not per small time steps?

Thansk!

Antoine.