> ## Documentation Index
> Fetch the complete documentation index at: https://docs.cyberwave.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Get Pose node

> Read a scene object's or twin's live world pose and emit it for downstream nodes.

The **Get Pose** (`get_pose`) node reads the current world pose (position + rotation) of a scene object or a twin, fresh each run, and emits it as node outputs.

<Note>
  **Palette category:** Data Sources. Generic reader — it emits a raw pose; downstream nodes decide what to do with it.
</Note>

For a **scene object** (procedural primitive), the node returns the **live simulator pose** while a MuJoCo simulation is streaming (so moving the object in sim changes what the node reads), and falls back to the object's authored position when no sim is running. For a **twin** source it returns the twin's stored pose.

## Pose → policy pattern

Wire a Get Pose node between a trigger and an [Online Controller Lifecycle](/feature-reference/workflows/online-controller-lifecycle) node: connect Get Pose's **`position`** output to the lifecycle node's **`object_position`** input. On each run the pose is read live and injected as the RL policy's startup goal — move the object and re-run to steer the policy toward its new pose.

## Inputs

| Field                       | Type   | Required | Description                                                                      |
| --------------------------- | ------ | -------- | -------------------------------------------------------------------------------- |
| `source`                    | string | No       | `procedural_primitive` (default) or `twin`.                                      |
| `target_object_external_id` | string | No       | External id of the scene object to read (when source is `procedural_primitive`). |
| `target_twin_uuid`          | string | No       | UUID of the twin to read (when source is `twin`).                                |

## Outputs

| Field                | Type   | Description                                         |
| -------------------- | ------ | --------------------------------------------------- |
| `position`           | array  | World position `[x, y, z]`.                         |
| `rotation`           | array  | World rotation quaternion `[w, x, y, z]`.           |
| `pose`               | object | Combined `{ position, rotation }`.                  |
| `source_external_id` | string | Resolved scene object id (empty for a twin source). |
| `source_twin_uuid`   | string | Resolved twin uuid (empty for a primitive source).  |